| 一种基于声纳信息的移动机器人实时导航方法 |
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| 引用本文： | 连靖,连晓峰.一种基于声纳信息的移动机器人实时导航方法[J].测控技术,2010,29(1):58-60. |
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| 作者姓名： | 连靖 连晓峰 |
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| 作者单位： | 中北大学信息与通信工程学院,山西,太原,030051;北京工商大学计算机与信息工程学院,北京,100048 |
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| 摘 要： | 提出了一种基于声纳信息的移动机器人实时导航方法。首先建立声纳感知数据向地图映射的概率模型,将声纳感知到的环境信息以基于栅格的概率值进行表示,并利用D-S证据理论对其进行数据融合,得到机器人的局部环境。在此基础上,采用基于滚动窗口的方法进行移动机器人路径规划,最终实现实时导航。试验结果表明该方法是可行和有效的。
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| 关 键 词： | 移动机器人 声纳 栅格地图 D-S证据理论 滚动规划 |
A Sonar-Based Real-Time Navigation Method for Mobile Robot |
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| LIAN Jing,LIAN Xiao-feng.A Sonar-Based Real-Time Navigation Method for Mobile Robot[J].Measurement & Control Technology,2010,29(1):58-60. |
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| Authors: | LIAN Jing LIAN Xiao-feng |
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| Affiliation: | 1.School of Information and Communication Engineering;North University of China;Taiyuan 030051;China;2.School of Computer and Information Engineering;Beijing Technology and Business University;Beijing 100048;China |
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| Abstract: | A real-time navigation method for mobile robot based on sonar data is presented.Firstly,a probability model from the sonar data to map is introduced.The environment information detected by sonar is represented in the form of probability based on grids,and is fused by evidential reasoning with uncertainty based on Dempster-Shafer theory to describe the local environment around the mobile robot.And then,path planning based on rolling windows is implemented to realize real-time navigation for mobile robot.Expe... |
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| Keywords: | mobile robot sonar grid map D-S theory of evidence rolling planning |
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