摘要
提出了一种新的基于超声波信息的建模方法,通过分析相邻多个超声波传感器测量数据间的相互关系以及环境特征的相关信息,用线段匹配实现对探测环境的建模.经仿真和实验验证,此方法可以很好地识别墙壁、拐角和缺口等环境特征,具有建模准确、实时性强的特点.
A new modeling method based on ultrasonic data is presented. Based on the analysis of relationship between data measured by multiple ultrasonic sensors and the environment characteristic information, the explored environment is modeled by line segments matching method. The simulation and experiment results show that this method can recognize wall, corner and gap precisely in the environment and has advantages of accurate modeling and strong real-time.
出处
《机器人》
EI
CSCD
北大核心
2005年第3期261-266,共6页
Robot
关键词
环境特征
移动机器人
超声波传感器
建模
environmental characteristic
mobile robot
ultrasonic sensor
modeling
