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Road Recognition Method of WheelTracked Robot Based on#br#
Multisensor Information Fusion |
GONG Pengwei1,FEI Yanqiong1, 3, SONG Libo2 |
1. Research Institute of Robotics, Shanghai Jiao Tong University, Shanghai 200240, China;
2. Engineering Training Center, Shanghai Jiao Tong University, Shanghai 200240, China;
3. Department of Automation, Hangzhou Dianzi University, Hangzhou 310018, China |
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Abstract Abstract: In view of the wheeltracked robot’s road status recognition under the unknown circumstance, a new identification method was proposed based on multi information fusion, and the method compounded with support vector machine (SVM) theory and DempsterShafer (DS) evidence theory. First, a data acquisition system composed of ultrasonic sensors and infrared sensors was designed in order to get the features of the road condition. Then on the basis of Platt posteriori probability, the multiclass posteriori probability model and BPA function were constructed. Finally, experiments with SVM+DS fusion and identification method were carried out to identify the three typical road conditions. The results showed that flat road, slope and step conditions could be identified effectively, hence the method could satisfy the performance requirement of the wheeltracked robot.
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Published: 03 April 2017
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