摘要
对机器人通过某地形的难易程度进行研究,融合视觉信息和空间信息,从地形坡度、地形起伏度、障碍离散度、壕沟宽度和连续阶梯影响度5个方面评价地形可通过性,以增加机器人对复杂环境理解能力。在自行研制的CUMT-Ⅴ机器人上对复杂导航环境进行验证,实验结果表明评价方法能满足机器人在复杂环境中的导航需求。
Research is in progress on how to measure the degree of difficulty of the robot through a terrain. Integration of visual and spatial information is presented to evaluate terrain trafficability from the terrain slope, terrain ruggedness, obstacles dispersion, trench width and continuous ladder, which increases the robot ＇s ability to understand complex unstructured environments. A complex navigation environment is arranged to test on CUMT-V. Experimental results show that the method can well meet the navigation needs of the robot in complex environments .
出处
《煤矿机械》
北大核心
2014年第9期47-50,共4页
Coal Mine Machinery
基金
国家高技术研究发展计划(863)项目(2012AA041504)
关键词
探测机器人
可通过性评价
导航
exploration robot
trafficability evaluation
navigation
