文献类型：会议论文

英文题名：An underwater autonomous robot based on multi-sensor data fusion

作者：Yang, Qingmei[1];Sun, Jianmin[2]

第一作者：杨清梅

通讯作者：Yang, QM[1]

机构：[1]Beijing Union Univ, Coll Automat, Beijing 100101, Peoples R China;[2]Beijing Inst Civil Engn & Architecture, Dept Elect Mech Engn, Beijing 100044, Peoples R China

第一机构：北京联合大学城市轨道交通与物流学院

通讯机构：[1]corresponding author), Beijing Union Univ, Coll Automat, Beijing 100101, Peoples R China.|[1141751]北京联合大学城市轨道交通与物流学院;[11417]北京联合大学;

会议论文集：6th World Congress on Intelligent Control and Automation

会议日期：JUN 21-23, 2006

会议地点：Dalian, PEOPLES R CHINA

语种：英文

外文关键词：mobile robot; Kalman filter; data fusion; location method

摘要：A kind of new autonomous robot can excavate hole in the mud underwater, which is called move-in-mud robot. It can be used in sunken wreck salvage to improve the efficiently of excavating the hole. In this paper, analyse the working principle of move-in-mud robot according to planned trajectory. The kinematics modelling of move-in-mud robot is established. Data fusion can combine multi-sources information from one object, and form a more precise and complete estimate than the sole sensor. The paper analyse several methods of multi-sensor data fusion such as Bayesian estimate, Kalman filter, Dempster-Shafer evidence theory etc, and discuss general structure of multi-sensor data fusion. Location system of move-in-mud robot is designed in the paper and location principle of move-in-mud robot is analyzed. Kalman filter is applied to fuse redundant information of the robot. The data fusion method is stimulated in location system of move-in-mud robot, the effect of simulation of data fusion shows the data fusion method can improve location accuracy.