越野环境的三维地图重建

针对移动机器人越野环境下地图重建的问题,提出了一种三维网格地图的更新算法.该算法利用四线激光雷达(LD_ML)获取环境局部位置信息,结合机器人同一时刻DGPS/INS联合定位系统的位姿,依据障碍的坡度与高度阈值进行障碍区域检测.分别对障碍与非障碍区域采用最大值和均值法进行更新,完成环境地图的重建.试验结果表明:该算法在越野环境中具有良好的重建效果,可将机器人沿途经过的路面及周围环境构建出来.

3-D Map Reconstruction in Cross-country Environment

In order to build a precise 3-D map of outdoor environment,a novel map reconstruction algorithm is proposed based on a mobile robot.The robot uses a four-layer laser radar(LD-ML) to obtain space information and uses a DGPS/INS(Difference GPS/ Inertial Navigation System) position system to obtain its pose and position information.With the aim of building a complete 3-D grid map,the range data of environment are changed into a world coordinate system with the simultaneous position data of the robot.Since the outdoor environment is always complicated,the 3-D grid map is built by updating z-coordinate value using obstacle detection results.And the obstacle detection is achieved by LD-ML according to the gradient and height information of detection regions.The results of 3-D grip map reconstruction show the 3-D map reconstruction algorithm is reliable and stable.