基于Lego机器人的低成本SLAM方法设计

A Low-cost Implementation of SLAM Based on Lego Robot

SLAM技术是机器人在未知环境中实现自主移动的关键,在当下受到广泛关注。提出一种低成本的SLAM实现方法,以Lego机器人为硬件基础,其具有成本低、易获得并可使用多种传感器进行功能拓展的特点,以LeJOS为软件基础,采用包容体系结构控制机器人行为,选择C/S模式组织程序架构,并利用测距法对机器人进行定位,以三角法对障碍物进行定位。在室内环境中进行机器人的移动测试,成功实现机器人在未知环境中自主导航定位,同时在二维坐标系中绘制出栅格地图。

SLAM technology is receiving an increasing attention due to its key role to make a robot move autonomously under an unknown environment. In this paper, a low-cost implementation of SLAM is proposed. It uses low-cost and easily obtained Leog hardware, which can be expanded with multiple sensors. It also uses LeJOS software and Subsumption Architecture to control the robot’s behavior. The application organizes the program architecture with C/S mode, position the robot and obstacles respectively with ranging method, and triangle method. In the indoor environment for mobile robot testing, the robot successfully implements the autonomous navigation and position under the unknown environment. At the same time, a raster map is drawn on a two-dimensional coordinate system.