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基于D-S信息融合的水下机器人地图构建
引用本文:朱大奇,李伟崇,颜明重.基于D-S信息融合的水下机器人地图构建[J].系统仿真技术,2012,8(3):181-186,191.
作者姓名:朱大奇  李伟崇  颜明重
作者单位:上海海事大学水下机器人与智能系统实验室,上海,201306
基金项目:国家自然科学基金资助项目(51075257); 上海市科委创新行动计划资助项目(10550502700); 交通运输部基础研究资助项目(2011-329-810-440); 上海海事大学校基金资助项目(20100097)
摘    要:针对未知动态环境中自治水下机器人(Autonomous Underwater Vehicle,AUV)的路径规划问题,给出一种基 于D-S (Shafer-Dempster)信息融合的水下栅格地图构建算法.首先通过建立一个声纳传感器模型,将声纳数据转换成栅格的信度函数分配值;接着应用D-S证据理论信息融合算法更新地图数据,从而构建出水下动态栅格地图;最后通过真实地图与融合构建地图比较,说明D-S融合算法在地图构建中的可行性.

关 键 词:D-S信息融合  栅格  超声波传感器  声纳数据  地图构建

Map Building for Underwater Vehicle Based on D-S Information Fusion Algorithm
ZHU Daqi , LI Weichong , YAN Mingzhong.Map Building for Underwater Vehicle Based on D-S Information Fusion Algorithm[J].System Simulation Technology,2012,8(3):181-186,191.
Authors:ZHU Daqi  LI Weichong  YAN Mingzhong
Affiliation:( Laboratory of Underwater Vehicles and Intelligent Systems,Shanghai Maritime University , Shanghai 201306, China)
Abstract:For the path planning of Autonomous Underwater Vehicle in unknown environment, a gird map building method based on the D-S information fusion algorithm is given. Firstly, based on the establishment of an ultrasonic sensor model, the assigned gird certainty value is gotten by using the sonar data; then update the map by using D-S (Shafer-Dempster) evidential theory, and the dynamic underwater gird map is built; finally by comparing the real map with the fused map, it is shown that the fusion algorithm is proved to be effective and feasibility in map building.
Keywords:D-S information fusion  gird  ultrasonic sensor  sonar data  map building
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