摘要
针对目前超声波传感器广泛使用的情况,系统地综述了室内移动机器人利用超声数据进行局部环境建模的研究方法,总结了超声波传感器的特性和常用模型,重点比较并讨论了各种多超声传感器融合算法及进一步的局部环境建模方法,最后通过基于超声波的移动机器人在结构化室内环境中所能完成的导航、避障等任务的分析得出了该研究领域中存在的不足,并对其发展趋势进行了展望。
Aiming at the fact that the ultrasonic sensors are widely used, researches on local environment modeling for sonar - based indoor mobile robots were overviewed. The characteristics and models of sonar were summarized, and different algorithms for multi - sonar fusion and methods for local environment modeling were compared and discussed. After the comparisons of various tasks such as navigation, obstacle avoiding etc that sonar - based robots could achieve in structured indoor environment, the drawbacks such as time -consuming in processing and the future trends in the related fields were presented.
出处
《机床与液压》
北大核心
2006年第7期42-46,共5页
Machine Tool & Hydraulics
基金
国家自然科学基金(60405012)
浙江省重大自然科学基金(ZD0107)
浙江大学城市学院科研计划基金(J52305062016)
