A novel method of range measuring for a mobile robot based on multi-sensor information fusion

摘要

The traditional measuring range for a mobile robot is based on a sonar sensor. Because of different working environments, it is very difficult to obtain high precision by using just one single method of range measurement. So, a hybrid sonar sensor and laser scanner method is put forward to overcome these shortcomings. A novel fusion model is proposed based on basic theory and a method of information fusion. An optimal measurement result has been obtained with information fusion from different sensors. After large numbers of experiments and performance analysis, a conclusion can be drawn that the laser scanner and sonar sensor method with multi-sensor information fusion have a higher precision than the single method of sonar. It can also be the same with different environments.