| 直线拟合算法在移动机器人轨迹记录中的研究与应用 |
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| 引用本文： | 沈勇,姜剑. 直线拟合算法在移动机器人轨迹记录中的研究与应用[J]. 计算机与现代化, 2012, 0(8): 10-12 |
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| 作者姓名： | 沈勇 姜剑 |
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| 作者单位： | 江苏科技大学计算机科学与工程学院,江苏镇江,212003 |
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| 摘 要： | 移动机器人在进行未知环境探索时,需要记录保存其行驶轨迹,以便进行定位、路径规划、地图更新等处理。本文给出一个直线拟合的优化算法,对移动机器人采集的原始坐标信息进行分析,可去除大量冗余信息,得到准确、精简、必要的运动轨迹信息。该算法在移动机器人轨迹记录中得到了有效应用,节省了存储空间,且满足移动机器人的实时性。仿真及实际测试均显示,该直线拟合优化算法是快速、高效的。
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| 关 键 词： | 直线拟合算法 移动机器人 轨迹记录 |
Research and Application of Linear Fitting Algorithm for Track Recording of Mobile Robot |
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| SHEN Yong , JIANG Jian. Research and Application of Linear Fitting Algorithm for Track Recording of Mobile Robot[J]. Computer and Modernization, 2012, 0(8): 10-12 |
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| Authors: | SHEN Yong JIANG Jian |
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| Affiliation: | ( School of Computer Science and Engineering, Jiangsu University of Science and Technology, Zhenjiang 212003, China) |
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| Abstract: | Mobile robots need record motion track in exploring an unknown environment for localization, path planning and map updating. An optimized linear fitting algorithm is proposed. It can analyze the original coordinate information of mobile robot, remove a lot of redundant information, and provide accurate, simplified, and necessary trajectory information. The algorithm is effectively applied in the track recording of mobile robot. It saves large storage space, and satisfies real-time of robot. The simulation and practical test all show that, the algorithm is fast, efficient. |
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| Keywords: | linear fitting algorithm mobile robot track recording |
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