摘要
传统的基于激光SLAM的移动机器人通常配备激光测距仪作为其获取外界环境信息的传感器,但激光测距存在不能获取三维环境信息的不足。比较了以激光测距仪数据作为观测和以Kinect数据作为观测时对移动机器人同时定位与建图的影响,并提出了对基于激光SLAM的移动机器人的改进实现,使机器人同时配备激光测距仪和Kinect用于同时定位与建图以及导航。实验表明:同时配备激光测距仪和Kinect的移动机器人,不仅可以获得较高质量的环境地图和较高精度的机器人定位,同时还可以获得通过复杂环境的能力。
A mobile robot based on laser SLAM is usually equipped with a laser range finder to gain the external environment information.But the laser range finder can not gain three-dimensional environment information.This article compared the influences of data from laser range finder and the data from Kinect on simultaneous localization and mapping.In addition,an improvement on the mobile robot based on laser SLAM was conducted,to make the robot equipped with laser range finder and Kinect to localization,mapping and navigation.Experiments show that the robot equipped with laser range finder and Kinect can not only gains a high quality environment map and high-precision robot positioning,but also acquires ability to go through the complex environment.
作者
沈一鸣
赵希宇
SHEN Yi-ming;ZHAO Xi-yu(School of Mechanical Engineering,Shenyang University of Technology,Shengyang 110870,China)
出处
《机械工程与自动化》
2018年第6期36-38,共3页
Mechanical Engineering & Automation
