关键词: 避障, 信息融合, 检测盲区, 排列方式

Abstract: In order to enhance the obstacle-detecting rate, prevent from collision in the process of obstacle avoidance, the relationship between sensor-distributing manner and obstacle-locating blind zone is discussed based on the technology of multi-sensor data fusion. The conception of absolute blind zone and relative blind zone is defined. Sensor distributing manners are classified into three types: dispersing, intercrossing and mixing. The merits and demerits of each type are mentioned respectively. Several sensors are arranged in mixing manner on the target robot. The detecting results of multi sensors are combined to form a flag which determines the branch of the algorithm. The flag also makes the obstacle location available on the upper computer. The results of the experiment indicate that it is effective to reduce the obstacle-locating blind zone.

Key words: obstacle avoidance, data fusion, detecting blind zone, distributing manner