移动机器人未知环境地图构建仿真平台

Simulation System of Unknown Environment Mapping for Sonar-based Mobile Robot

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。

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 C1HT（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.