地图构建中动态障碍干扰滤除的一种方法

An Approach to Dynamics Obstacle Filtering in Map Building

在移动机器人环境建图中,动态障碍物的存在直接影响传感器的读数,导致产生不一致的环境地图,因此,移动机器人构建地图必须滤除动态障碍物干扰。采用直线插补的方法在先前的局部图上搜寻机器人与目标点之间是否存在障碍物,若存在障碍,则可判定该障碍物已移走(即为动态障碍),应该予以滤除。实验结果证明,该方法能在建图过程中有效地滤除动态障碍,并能有效减少静态障碍物探测的误差累积,算法复杂度小。

Dynamic obstacles affect the readings of sensors and lead to inconsistent maps in map building for mobile robots. It is a key process for mobile robots to filter dynamic obstacles in map building step. An approach to dynamic obstacles filtering based on laser scanner is proposed. For a distance data of laser scanner, them must be no obstacle between robot and the detected point. Based on that the method of linear interpolation is used to check if there are obstacles between the robot and the measured point in the grid map. If an obstacle is found, it is recognized as dynamic obstacle mad is filtered out. The simulation result on a real mobile robot shows the accuracy and efficiency of the method.