D-S证据理论在移动机器人信息融合中的应用

移动机器人的自动能力中实时避障和导航是一个很关键的技术，研究中主要的问题是：机器人在运动时需要充分的环境信息，而且处理这些信息的速度要快，同时也要满足实时性的要求。详细介绍了将D-S证据理论应用于移动机器人对未知环境的探索、感知过程，并通过仿真结果对D-S证据融合方法的性能进行研究与改进，确定了D-S证据融合方案的具体实现步骤，并完成了一个简化的仿真算例，得出了相关结论。

Application of D-S Evidence Theory in Mobile Robotic Sensor Fusion

The key technology in the automatic ability of mobile robot is real-time obstacle avoidance and navigation. The main problem in research is that mobile-robot need plenty of environmental information when moving and the information should be processed with rapid speed to satisfy real-time request. The data fusion method based on Dempster- Sharer evidence theory to realize mobile robot＇s environmental recognition and navigation is specifically introduced. Algorithm＇s performance based on D-S evidence theory is studied and improved by simulation results. The concrete implementation process of D-S evidence data fusion method is determined and an simplified simulation is finished. The simulation results show the relational conclusion.