| 移动机器人即时环境探索与地图库构建 |
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| 引用本文： | 张明状,庄严,王伟,顾明伟.移动机器人即时环境探索与地图库构建[J].东南大学学报(自然科学版),2009(Z1). |
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| 作者姓名： | 张明状 庄严 王伟 顾明伟 |
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| 作者单位： | 大连理工大学信息与控制研究中心; |
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| 基金项目： | 国家自然科学基金资助项目(60605023,60775048); 国家高技术研究发展计划(863计划)资助项目(2007AA04Z257) |
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| 摘 要： | 研究了室内准结构化环境中移动机器人自主环境探索与复合环境地图库构建问题.基于实时获取的激光测距数据,并面向机器人自主导航、探索与认知等多种任务需求,提出了基于探索导向点的自主环境探索方法,以及可与准结构化环境相适应的复合地图库构建算法.为了适应环境中存在的随机运动人体目标及用几何特征无法表述的非规则障碍区,提出了临时栅格统计算法和非规则障碍区建模算法,从而实现环境动态信息的实时处理和对不规则障碍区的聚类与划分.通过对仿真和应用于Pioneer3-DX移动机器人平台所获得的实验结果和数据的分析讨论,论证了所提算法的有效性和实用性.
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| 关 键 词： | 探索导向点 复合地图库 环境探索 激光测距 |
Mobile robot simultaneous environment exploration and map base building |
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| Zhang Mingzhuang Zhuang Yan Wang Wei Gu Mingwei.Mobile robot simultaneous environment exploration and map base building[J].Journal of Southeast University(Natural Science Edition),2009(Z1). |
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| Authors: | Zhang Mingzhuang Zhuang Yan Wang Wei Gu Mingwei |
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| Institution: | Zhang Mingzhuang Zhuang Yan Wang Wei Gu Mingwei(Research Center of Information , Control,Dalian University of Technology,Dalian 116024,China) |
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| Abstract: | Environment exploration and map building are studied for an autonomous mobile robot working in indoor semi-structured environment.In order to meet the demand for robot navigation,exploration and cognition,this paper provides a method of autonomous environment exploration based on exploration-direction-point and an algorithm of composite map base building using laser scanning.Considering the random moving human targets and non-regular obstruction areas existing in indoor environment,the temporary-grid-statis... |
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| Keywords: | exploration-direction-point composite map base environment exploration laser scanning |
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