Localization system of rescue robot based on multi-sensor fusion

摘要

A new algorithm has been used in the location system of rescue robot based on the plus of degree of trust, which has good robustness. By studying the comparison of four data fusion algorithm results we verified the feasibility of the new algorithm using Matlab simulation. Experiments on robot platform to simulate environment in coal mine verified the reliability of algorithm in the complex environment. The results show that the algorithm of the plus of degree of trust has better robust performance, which can filtrate the disturbance in multiple disturb environment. The proposed localization system can be applied for the complicated environments like coal mine to obtain better localization results.