Abstract: Focusing on the range error of sonar due to specular reflection, a method of weighted fusion was designed to fuse the data of sonar and camera and make the mobile robots complete the location accurately at the area of corner. A path planning for the robot was then given. After testing experiments, the results show that the method can make the robot passing through a corner safely and smoothly.

Key words: mobile robots, localization, path planning, data fusion, corner

摘要： 针对镜面反射引起的声呐测距不准的问题,设计一种加权融合的方法对声呐和摄像头的信息进行融合,使移动机器人能够精确地完成在拐角区域下的自身定位,并给出了机器人的路径规划。通过在先锋3机器人平台上进行的实验结果证明,该方法能够使移动机器人安全、平滑地通过拐角区域。

关键词: 移动机器人, 自定位, 路径规划, 信息融合, 拐角区域