一种基于激光测距的机器人地图创建方法

A method of robot map building based on laser range-finder

针对未知环境中机器人局部地图的构建问题,提出一种激光测距的离散数据自适应曲率估计算法。采用该算法对预处理后的激光扫描数据进行环境特征分割,然后提取并描述环境特征,最后根据特征元素集构建局部地图。仿真和实验结果表明,该方法能准确地描述结构化室内环境,有效地描述和表征了实验环境。

A local map building method based on laser data adaptive curvature estimation is presented for mobile robot in unknown structured environment.The method segments the environment feature in relation to the pre-processed laser scan data,and extracts and characterizes the environment features,and finally the local map is built according to the extracted feature sets.The simulation and experiment results show that the method can effectively and correctly characterize the structured indoor environment and the experimental environment.