A data fusion method applied in an autonomous robot

摘要

In order to improve the accuracy and reliability of the measurement system, data fusion is frequently used in an autonomous robot to fuse multi-sensor information of measurement system. Several kinds of methods of multi-sensor data fusion are analyzed. Kalman filter is applied in an underwater autonomous robot to fuse redundant information. The autonomous robot is designed to dig hole in the mud underwater in sunken wreck salvage along the planed trajectory. Location system of move-in-mud robot is designed in the paper and location principle of move-in-mud robot is analyzed. The fusion method in location system of move-in-mud robot is simulated with Matlab software. The simulation results of the data fusion method show that Kalman filter can improve location accuracy efficiently.