基于激光同步定位与建图的移动机器人路径寻优方法

针对未知场景下移动机器人路径寻优问题,提出一种基于改进蚁群算法的激光SLAM移动机器人路径寻优方法。该方法由场景重构和路径寻优组成,利用激光雷达传感器观测特征物信息对广义卡尔曼滤波估计值更新,建立场景理解信息点云构造二维栅格地图,根据场景重构地图信息结合改进的蚁群算法进行路径优化。在复杂场景下,通过激光SLAM移动机器人实验表明,改进蚁群算法的激光SLAM移动机器人在多种复杂场景路径寻优和运行消耗时间等方面取得了较好的效果。

Path Optimization Method of Mobile Robot Based on Laser Simultaneous Localization and Mapping

Mobile robot path for the unknown scene optimization problem, a method of optimizing a laser Improved Ant Colony Algorithm SLAM mobile robot path.The method consists of scene reconstruction and path optimization,updating the estimation of generalized Kalman filters used lidar sensors to observe feature information,establish a scene understood information point cloud structure two-dimensional grid map,reconstruct map information according to scene and improved ant colony algorithm for path optimization. In complex scenarios,by laser experiments show that the mobile robot SLAM,the laser SLAM mobile robot with improved ant colony algorithm has achieved good results in various complex scene path optimization and running time.