A High Accurate Multi-Sensors Fusion Ranging System
LI Lei-min · Journal of Southwest University of Science and Technology · 2012
Calculating robot moving pathway is one key technology of robot obstacle avoidance,path planning and coordination formation via ranging system.According to characteristic of robot working environment like complex landscape and weak light etc.For raising measuring precision,this paper cooperate high accurate laser sensor with ultrasonic sensor measuring,designed software and hardware using ARM9 as the CPU,based on which,researched adaptive weighed fusion algorithm and analyzed error and variance of each sensor.Through experiments statistics,concluded that multi-sensors fusion have a 47% higher precision than single sensors,and measuring error decreased within 0.5cm,which indicate that the system raised ranging accurate and reliability indeed.