| 一种基于激光测距的机器人地图创建方法 |
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| 引用本文： | 刘洞波. 一种基于激光测距的机器人地图创建方法[J]. 光电子．激光, 2010, 0(2): 261-264 |
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| 作者姓名： | 刘洞波 |
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| 作者单位： | 湖南大学电气与信息工程学院;湖南工程学院; |
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| 基金项目： | 湖南省自然科学基金资助项目(05JJ40093); 湖南省教育厅资助科研项目(08C224) |
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| 摘 要： | 针对未知环境中机器人局部地图的构建问题,提出一种激光测距的离散数据自适应曲率估计算法。采用该算法对预处理后的激光扫描数据进行环境特征分割,然后提取并描述环境特征,最后根据特征元素集构建局部地图。仿真和实验结果表明,该方法能准确地描述结构化室内环境,有效地描述和表征了实验环境。
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| 关 键 词： | 移动机器人 激光传感器 自适应曲率计算 特征抽取 地图构建 |
A method of robot map building based on laser range-finder |
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| LIU Dong-bo. A method of robot map building based on laser range-finder[J]. Journal of Optoelectronics·laser, 2010, 0(2): 261-264 |
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| Authors: | LIU Dong-bo |
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| Affiliation: | LIU Dong-bo1,2,LIU Guo-rong1,YU Miao-hua2(1.College of Electrical , Information Engineering,Hunan University,Changsha 410082,China,2.Hunan Institute of Engineering,Xiangtan 411104,China) |
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| Abstract: | A local map building method based on laser data adaptive curvature estimation is presented for mobile robot in unknown structured environment.The method segments the environment feature in relation to the pre-processed laser scan data,and extracts and characterizes the environment features,and finally the local map is built according to the extracted feature sets.The simulation and experiment results show that the method can effectively and correctly characterize the structured indoor environment and the ex... |
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| Keywords: | mobile robot laser range finder adaptive curvature estimation feature extraction map building |
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