摘要
移动机器人在运动范围内需要有足够的传感器信息可供利用来进行自主导航,在完全未知的环境中,由机器人依靠其自身携带的传感器所提供的信息建立环境模型是机器人进行自主定位和导航的前提之一。介绍了激光测距在移动机器人自主导航中的应用研究;通过二维测距传感器对其周围环境进行扫描,提出了自主导航中地图创建、定位如何用二维扫描获得三维数据流的算法描述,并实验验证该算法的运用使机器人获得一个很好的三维视觉结构图。
Mobile robot needs to have the enough sensor information in the movement scope to supply to use carries on the autonomous navigation. The information establishment environment model which in the completely unknown environment, depends upon its oneself by the robot which to carry the sensor provides is one of the robot carries on autonomous localization and navigation premises. The applied research of the-laser ranging in the mobile robot autonomous navigation is introduced, then to its environment the scanning is carried on through the twodimensional range finder sensor, the map building and localization in the autonomous navigation is proposed how to use the two-dimensional scanning to obtain the three dimensional data stream the algorithm description, and the experiment confirms this algorithm is allowed to cause the robot to obtain a very good three dimensional visual structure drawing.
出处
《传感器与微系统》
CSCD
北大核心
2007年第7期114-117,共4页
Transducer and Microsystem Technologies
关键词
激光测量
自主导航
地图创建
定位
laser measurement
autonomous navigation
map building
localization
