Research for Multi-sensor Information Fusion Algorithm of Search and Rescue Robot Based on Embedded Control Network

摘要

Aiming at completing search task under disaster condition problems, an optimizing strategy based on multi-sensor information fusion is proposed in this paper. Firstly, search and rescue robot control system hardware circuit is designed; secondly, embedded system software design is realized; and then, a polymerization Kalman filtering model is proposed, it uses local Kalman filter weights scheduling principle to improve system fault-tolerant ability and overall fusion performance. What’s more, Adaboost algorithm realizes the multi-sensor information optimal fusion. Through simulation test experiment, the robot search traversal ability is verified under unstructured environment.