非结构环境的机器人探测原理及其误差分析

针对机器人工作环境为未知、接触表面不确定和连续不可导等高度复杂的情形，提出了一种基于一个二维激光测距传感器与运动机器人相结合的具备三维非结构环境探测功能的方法。建立了机器人探测系统模型，并进行了理论分析，揭示了基于激光传感器探测系统的探测误差主要来源于激光测距传感器本身的测量误差、与被探测环境表面特性有关的误差、由于动态测量而引起的误差以及外界环境因素引起的误差，针对不同的误差来源给出了误差修正方法或数学修正公式。为进一步研究非结构环境下机器人的各种精确控制奠定了基础。

Detecting Principle and Error Analysis of Robot in Unstructured Environment

Based on the extremely complicated circumstances of the unknown working environment of robots, and the uncertainty and continuous non-conductivity of the contact surface, a three-dimensional detecting method under unstructured environment is presented in this paper, based on the combination of two dimensional laser rangefmder sensor and operating robot. The detecting system model of robots is set up and the theoretical analysis is also made, which shows that the detecting error of the detecting system based on the laser sensor mainly comes from the laser rangefmder sensor measure error caused by itself, the error related with the detected environment surface, the error caused by the dynamic measurement and the error caused by the outside environment. Methods of error modification and mathematic modification formulas are pointed out at different sources of error in the paper which lays the foundation of further researching the precise control methods of robot in variety under the unstructured environment.