基于激光测距的环境地图动态创建技术研究

本文主要研究完全未知结构化环境下的移动机器人二维地图构建与标图技术。本文以激光测距仪为环境探测传感器，采用几何特征法创建地图。对局部地图创建中的区域分割方法进行了改进，提出了基于线性阈值法的区域分割方法；给出了基于相关线段和线段缓冲区的全局地图创建方法。实验结果表明：本方法实现了基于实时的激光测距数据的局部地图动态创建和全局地图的实时更新，算法有效且可行。

The Dynamic Environment Mapping Technology Based on Laser Measurement Sensor

This paper focuses on 2-D dynamic mapping technology for mobile robot under unknown environment. The Laser measurement sensor （in short, LMS） is used as an environment measurement sensor, and the geometrical character-based method is used to build the local map. A method named dynamic threshold is used in the process of area partition and linesegment extraction. The concepts of correlated line-segment and line-segment buffer are used to build the global map. The results of test show that the methods can create local map dynamically based on the LMS measuring data and update the global map in real-time.