摘要
针对自主移动机器人局部地图构建问题,给出了一种利用激光雷达构建局部地图的方法,该方法利用已经获得的地图对激光束点阵进行优化,估计激光点在地图的表示和占据网格的概率,地图采用的是多分辨率的形式,从而避免出现局部最小而非全局最优的情形,在地图构建中具有易实现、精度高等特点。同时采用激光雷达改进算法对数据进行预处理时的方法提取环境特征以降低噪声干扰,采用激光扫描匹配的方法提高构图与定位的准确性。在Linux下完成基于ROS平台的室内定位与同步建图,完成了二维地图的构建与机器人定位,进行了实验检查与分析。
Aiming at the problem of local mapping of autonomous mobile robot,this paper introduces a method of local mapping by using rplidar.The method optimizes the laser dot matrix by using the obtained map,estimate the representation of laser spot on the map,and the probability of occupying the grid, the map is used in the form of multiresolution,so as to avoid the local minimum instead of the global optimal,in the process of mapping there has been easy to achieve,high accuracy,etc.At the same time,using the laser radar improved algorithm to preprocess the data to extract the environment characteristics to reduce the noise interference.
出处
《工业控制计算机》
2017年第9期42-43,45,共3页
Industrial Control Computer
