| 基于激光传感器的移动机器人地图创建研究 |
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| 引用本文： | 彭晟远,吴怀宇,闫贺,时也.基于激光传感器的移动机器人地图创建研究[J].国外电子元器件,2012(3):103-105,108. |
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| 作者姓名： | 彭晟远 吴怀宇 闫贺 时也 |
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| 作者单位： | 武汉科技大学信息科学与工程学院,湖北武汉430081 |
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| 基金项目： | 国家自然科学基金项目（61075087） |
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| 摘 要： | 主要研究了室内自主移动机器人基于激光传感器在未知环境下的地图创建的问题。分析了目前地图创建的方法,采用一种分层聚类的方法从原始激光测量数据中提取直线特征,并计算直线特征参数的方差矩阵,最后通过Matlab仿真以及在带有激光型号为lms200的MT-r机器人进行物理实验验证了其可行性。结果所得为机器人实时定位和SLAM提供了理论依据。
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| 关 键 词： | 移动机器人 激光测距仪 特征提取 地图创建 |
Based on laser of creating mobile robot＇s maps |
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| PENG Sheng-yuan,WU Huai-yu,YAN He,SHI Ye.Based on laser of creating mobile robot＇s maps[J].International Electronic Elements,2012(3):103-105,108. |
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| Authors: | PENG Sheng-yuan WU Huai-yu YAN He SHI Ye |
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| Affiliation: | (College of Information Science and Engineering, Wuhan University of science and Technology,Wuhan 430081, China) |
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| Abstract: | The indoor independent mobile robot based on laser sensors in unknown environment map of the problem is studied. Analysis of the current creating map＇s methods, using a hierarchical clustering method from the original laser measurement data extraction straight line features, and calculation of characteristic parameters variance linear matrix, finally through the simulation of matlab and the MT-r with lms200 robot＇s physical experiments proved its feasibility. The results for robot real- time location and SLAM provides theory basis. |
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| Keywords: | mobile robot laser feature extraction map building |
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