多传感器信息融合技术在智能机器人上的应用-计算机应用技术专业论文.docx

沈阳理工大学硕士学位论文 沈阳理工大学硕士学位论文 Abstract Multi-sensor, information fusion and traditional robot compose the intelligent robot. In the past study of the field of robot’s intelligence, due to the neglect of comprehensive analysis of the multi-sensor, gives an adverse impact on intelligent system. The paper puts forward that, through the method of information fusion, two different types of sensors can be combined well to achieve the goal of right and effective recognition of object. Firstly, the current study of multi-sensor information fusion and intelligent robot are introduced, the principle, characteristics, system structure, methods are described, neural network applied on information fusion is discussed, the paper also put forward the key problems and study’s direction. Secondly, according to the subject, an object recognition system based on the neural network of information fusion is designed, overall function of system, the selection of sensors, system’s structure and workflow are described. Thirdly, the input information of neural network are discussed that how it is extracted. On one hand, vision sensor’s image pretreatment, features selection and compute are studied in detail. On the other hand, tactile sensor’s information extraction and output are put forward. And then, that information from two sensors are unified. Fourthly, a BP neural network recognizer is designed, parameters selection and algorithm are analyzed, the paper proposes a method that improves BP algorithm, data structure and treatment functions. Finally, based on the VC++6.0, the paper develops a information infusion neural network system, and the application steps on Lake Clean-up Robot are described in detail. Key words：Multi-sensor; Intelligent Robot; Information Fusion; BP Neural Network 沈阳理工大学 硕士学位论文原创性声明 本人郑重声明: 本论文的所有工作，是在导师的指导下，由作者本 人独立完成的。有关观点、方法、数据和文献的引用已在文中指出， 并与参考文献相对应。除文中已注明引用的内容外，本论文不包含任 何其他个人或集体已经公开发表的作品成果。对本文的研究做出重要 贡献的个人和集体，均己在文中以明确方式标明。本人完全意识到本 声明的法律结果由本人承担。 作者（签字）： 日 期 ： 年 月 日