摘要
针对传统的移动机器人自主环境探索算法复杂度高的缺点,提出了一种未知环境通路拓扑图的自主建立方案。该方案利用区域划分、超声波测距法确定通路点,利用里程计获得通路点坐标,再根据通路点间的关联性构建全局通路拓扑图。实际应用表明,该方法具有控制结构简单、算法的复杂度低的优点。
Aiming at the defect of high complexity in the traditional Environment Marks algorithm for mobile robot,an autono mous creating scheme of access topology in unknown environment is researched.In this scheme,the access point is determined by use of regional division and ultrasound ranging.Secondly,the access point coordinate is obtained by milemeter.Finally,in ac cordance with relevancy of access points,the global topology can be created.Practical application showed that this scheme has the virtues of simple control structure and lower complexity.
出处
《电脑知识与技术（过刊）》
2013年第1X期376-378,382,共4页
Computer Knowledge and Technology
