一种低功耗程控滤波器的设计

针对目前移动机器人同时定位与地图创建(SLAM)研究中多采用激光雷达或超声环作为测距传感器导致系统复杂、成本高的问题,提出了一种利用舵机带动单超声传感器扫描的低成本设计方案。在高斯超声模型基础上,利用贝叶斯公式对栅格地图进行概率更新,并结合Sobel边缘检测算法提取特征点,实现了由不确定的移动机器人坐标系向固定的以环境特征点为原点的全局环境坐标系的转换及全局定位,为在相同环境下通过重复实验进行多地图融合研究奠定了基础。该低成本移动机器人设计的有效性通过实验得以验证。

Design of Low Power Consumption Programmable Control Filter

Laser radar and ultrasonic sensors ring are usually used as range sensors for mobile robot SLAM(simultaneous localization and mapping),while lead to the unavoidable problem of system complexity rising and high-cost.A low-cost mobile robot design using one ultrasonic sensor which is rotated by a steering gear is proposed.The probability of occupancy grid maps is updated based on Gaussian ultrasonic sensor model and Bayes formula.By implementing Sobel image edge detection algorithm,the environment map is gene...