| 基于激光雷达的移动机器人环境建模与避障 |
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| 引用本文： | 杨明,王宏,何克忠,张钹.基于激光雷达的移动机器人环境建模与避障[J].清华大学学报(自然科学版),2000,40(7):112-116. |
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| 作者姓名： | 杨明 王宏 何克忠 张钹 |
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| 作者单位： | 清华大学,计算机科学与技术系,北京,100084;清华大学,智能技术与系统国家重点实验室,北京,100084 |
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| 基金项目： | “九五”国防科技预研项目! ( 1 6.1 0 .1 .6)，国家“八六三”高技术项目! ( 863- 51 2 - 2 0 - 0 2 ) |
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| 摘 要： | 为了提高自主移动机器人运行的安全性和可靠性 ,提出了一种基于激光雷达的距离信息进行环境建模和避障的方法。首先简要描述了激光雷达的工作原理 ,比较了几类常用的激光雷达 ,并介绍了激光测量系统 ( laser measure-ment system,LMS)。然后给出了一种用于移动机器人环境建模和避障的算法 -时变势场法 ,在此基础上提出了改进算法 -多分辨率势场法 ,实验表明其性能优于原算法。最后讨论激光雷达在实际应用中的一些问题。目前 ,该方法已成功地应用于清华室外移动机器人 THMR- V
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| 关 键 词： | 移动机器人 激光测距雷达 时变势场法 环境建模 避障 |
| 修稿时间： | 1999-07-07 |
Environmental modeling and obstacle avoidance of mobile robots based on laser radar |
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| YANG Ming,WANG Hong,HE Kezhong,ZHANG Bo.Environmental modeling and obstacle avoidance of mobile robots based on laser radar[J].Journal of Tsinghua University(Science and Technology),2000,40(7):112-116. |
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| Authors: | YANG Ming WANG Hong HE Kezhong ZHANG Bo |
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| Abstract: | A method for environment modeling and obstacle avoidance based on range data from laser radar is proposed to improve the safety and reliability of autonomous mobile robots. The merits of several kinds of laser radars are discussed along with each laser radar's operating principle. Then the Laser Measurement System (LMS) made by SICK is introduced. The time varying potential field algorithm is presented, with some improvements to model the environment and avoid obstacles. Experiments show that its performance is improved. Some problems that are specific to this class of sensors are then described. This algorithm has been successfully tested on an outdoor mobile robot the Tsinghua Mobile Robot V. |
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| Keywords: | mobile robot laser radar time varying potential field environment modeling obstacle avoidance |
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