基于多传感器融合的环境感知策略

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中图分类号：U455.6 文献标志码：A 文章编号：2095-2945（2025）28-0001-08

Abstract：Toaddresstheenvironmental perceptionrequirementsfor human-robotinteractioninmobilerobots，thispaper designsanenvironmentalpereptionmethodbasedonmulti-sensorfusiontoachievetherecognitionoftargetpersonnelandthe detectionofobstaclesincomplexenvironments.ThispaperrealizesthelocalizationoftargetpedestriansthroughArucomarker detection，gimbalcameracontrol，andtargetpositionpredictionrategies.Atthesametie，pointcloudclusteringandftingare combinedtorealizethemobilerobotsdetectionofobstaclesincomplexenvironments.Theproposed’targetrecognitionstrategy wastestedonasimulationplatformandaphysicalmobilerobotplatform.Theresultsshowthatthestrategycanlocatetarget pedestriansanddetectobstaclesinrealtimeandrobustness.Thisstrategysucessfullyrealizesthedetectionofcomplex environments by mobile robots and can be applied to other tasks of mobile robots.

Keywords：mobile robot；human-computer interaction；target positioning;multi-sensor fusion；obstacle detection

近些年，人员跟随机器人在各个领域中都得到了广泛的关注，当机器人在执行大部分人机交互任务时，环境感知模块是任务能否成功的关键。（剩余10231字）