Audio Sensors Fusion Based on Vote for Robot Navigation

摘要：

　　Rescue robots usually work in unknown complex environment with mess obstacles and dense smoke caused by the disaster.So,in most cases,the resure targets are unvisualable.When there is a call for help from a survival wouned man blocked behind a wall in an earthquake,the rescue robot can not find the target via the visual,infrared,laser or utralsonic senors.According to the diffraction property of audio signal,sound can bypass obstacles,and propagate through the smoke.An audio-based robot navigation system can guide the rescue robot run to the target according to the sound for help.However,the echo caused by the walls and obstacles may mislead the robot.So a sensor fusion method based on vote for robot navigation is developed to distinguish the real sound source from the psudo ones.And ideal effects are obtained in experiments.

关键词： Audio Sensor fusion Vote Robot Navigation

作者: ZHANG Qiang ZHAO Feng-qing LIU Zuo-jun YANG Peng

作者单位: School of Control Science and Engineering, Hebei University of Technology, Tianjin 300130, China School of Control Science and Engineering, Hebei University of Technology, Tianjin 300130, China;Con

会议类型: 国际会议

会议名称: the 25th Chinese Control and Decision Conference(第25届中国控制与决策会议)

会议地点: 贵阳

会议语种:英文

页码: 3219-3222

在线出版日期: 2013-05-01（万方平台首次上网日期，不代表论文的发表时间）