Title :
A data fusion method applied in an autonomous robot
Author :
Qingmei, Yang ; Jianmin, Sun
Author_Institution :
Coll. of Autom., Beijing Union Univ., Beijing
Abstract :
In order to improve the accuracy and reliability of the measurement system, data fusion is frequently used in an autonomous robot to fuse multi-sensor information of measurement system. Several kinds of methods of multi-sensor data fusion are analyzed. Kalman filter is applied in an underwater autonomous robot to fuse redundant information. The autonomous robot is designed to dig hole in the mud underwater in sunken wreck salvage along the planed trajectory. Location system of move-in-mud robot is designed in the paper and location principle of move-in-mud robot is analyzed. The fusion method in location system of move-in-mud robot is simulated with Matlab software. The simulation results of the data fusion method show that Kalman filter can improve location accuracy efficiently.
Keywords :
Kalman filters; mobile robots; remotely operated vehicles; sensor fusion; underwater vehicles; Kalman filter; data fusion; move-in-mud robot; multisensor information; underwater autonomous robot; Bayesian methods; Coordinate measuring machines; Fuses; Kalman filters; Mechanical variables measurement; Robotics and automation; Robots; Sensor fusion; Sensor systems; Sun; Data Fusion; Kalman Filter; Measurement System; Mobile Robot;
Conference_Titel :
Control Conference, 2008. CCC 2008. 27th Chinese
Conference_Location :
Kunming
Print_ISBN :
978-7-900719-70-6
Electronic_ISBN :
978-7-900719-70-6
DOI :
10.1109/CHICC.2008.4605358
