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《Transducer and Microsystem Technologies》 2008-11
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Study on lateral position of mobile robot based on information fusion

MA Bin-liang1,2,HUANG Yu-mei1,SHI En-xiu1,CAI Tao1,ZHU Cong-min1(1.School of Mechanical & Instrumental Engineering,Xi'an University of Technology,Xi'an 710048,China;2.Dushanzi Petrochemical Company,Kelamayi 833600,China)  
The incident angle of ultrasonic sensor has serious effect on its output.The effect of incident angle on the output is analyzed by experiment.The measurement precision is improved after the measuring model of the sensor is calibrated using error compensation factor,and then three lateral position models are designed based on multi-information fusion.Through the comparison analysis,the fusion model with error compensation factor has higher precision,the distance error is ±2.4mm and attitude angle error is ±0.32°.Finally,the model is applied to actual control of mobile robot,the distance error is ±3.7mm and attitude angle error is ±0.58°,which can meet position need of the mobile robot.
【Fund】: 国家自然科学基金资助项目(50075069);; 陕西省教育厅产业化培育计划资助项目(03JC17)
【CateGory Index】: TP242
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