| 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 |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
