机器人三维定位系统中关键技术的研究

深入研究了机器人三维定位系统中的扫描匹配及位置信息空间定位技术,提出了一种基于ICP的高效扫描匹配算法。该算法采用滤波,特征提取及非线性迭代的方法在保持扫描匹配的精确度的同时大幅减少了计算时间,弥补了传统ICP算法效率较低以及可能收敛不到全局最优解的缺陷。然后使用在改进算法的基础上引入倾角传感器的方法解决了传统机器人定位系统中存在的不易获取地面坡度信息以及恢复出的机器人空间位置精度较低的问题。

Investigation of Main Techniques in Robot Three-dimensional Localization

A novel, laser-based approach for tracking the pose of a high-speed mobile robot was described. The approach has better performance in terms of computation time and accuracy, which is achieved by improvements of ICP algorithm. With filter, feature extraction and non-linear iterative techniques, the algorithm greatly decreases the running time while it remains a high accuracy. The algorithm also avoids the disadvantages of ICP and gets better accuracy and the possibility of converging to a local optimal value. Besides, the difficulty of gaining pitch information and the low accuracy of localization were solved by adding an obliquity sensor to the traditional robot localization system based on this novel scan matching algorithm.