| 移动机器人未知环境地图构建仿真平台 |
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| 引用本文： | 刘保龙,何波,王永清,鞠纯纯.移动机器人未知环境地图构建仿真平台[J].系统仿真学报,2007,19(13):2940-2943,2958. |
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| 作者姓名： | 刘保龙 何波 王永清 鞠纯纯 |
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| 作者单位： | 中国海洋大学信息科学与工程学院,青岛,266071 |
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| 基金项目： | 山东省优秀中青年科学家科研奖励基金 |
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| 摘 要： | 以matlab工具箱的形式给出了静态及动态未知环境下移动机器人地图构建的仿真研究平台。通过分析polaroid 6500声纳、电子罗盘、编码器等传感器的工作原理建立了参数可调的传感器模型。这些传感器为机器人提供位姿及环境信息。在分析已有基于hough变换的线段提取算法的基础上提出了抑止“杂线段”现象的CIHT（Cluster Inhibiting Hough Transform）算法。采用CIHT对声纳信息作环境特征提取，便于开展基于环境特征的未知环境地图构建算法方面的研究工作。
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| 关 键 词： | 移动机器人 hough变换 特征提取 声纳 |
| 文章编号： | 1004-731X（2007）13-2940-04 |
| 收稿时间： | 2006-05-28 |
| 修稿时间： | 2006-05-282006-06-28 |
Simulation System of Unknown Environment Mapping for Sonar-based Mobile Robot |
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| LIU Bao-long,HE Bo,WANG Yong-qing,JU Chun-chun.Simulation System of Unknown Environment Mapping for Sonar-based Mobile Robot[J].Journal of System Simulation,2007,19(13):2940-2943,2958. |
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| Authors: | LIU Bao-long HE Bo WANG Yong-qing JU Chun-chun |
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| Institution: | College of Information Science and Technology, Ocean University of China, Qingdao 266071, China |
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| Abstract: | A simulation system of mapping for sonar-based mobile robot was developed both in static and dynamic unknown environments in a form of matlab toolbox. Sensor models with tunable parameters were established by interpreting and simulating the mechanism of encoder, digital compass, and polaroid 6500 sonar. These sensors provide the information of robot pose and environments. A novel CIHT(Cluster Inhibiting Hough Transform) algorithm for sonar data was proposed by analyzing existing line segments detection methods based on Hough Transform, which would make the research of feature-based mapping of unknown environment more convenient. |
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| Keywords: | SLAM |
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