Application of gray superior analysis in robot multi-sensor ranging system

Ultrasonic seniors and infrared sensors are utilized in the robot to range and locate. However, there are environmental impacts or some restriction factors, such as degree of precision of sensor, which may cause the imprecision and unreliability of some measuring data. Consequently, the precision of the whole system will be impaired. An improved calculation method of absolute correlation degree is employed in this paper. That is, the data from the first adaptive weighted fusion of multi-sensor´s measuring data will be used in the gray superior analysis as characteristic data in the first place. Next, those data with inferior correlation degree will be replaced with the characteristic data. Then, the substituted data will be used in the secondary fusion. According to the experimental results, this method is highly effective in the further improvement of the system ranging precision.