期刊文献+

移动机器人导航中激光雷达测距性能研究 被引量:13

Research on Ranging Performance of Laser Scanner in the Navigation of Mobile Robot
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摘要 距离检测是移动机器人导航的一个关键问题。文章介绍了基于飞行时间法测距的二维激光雷达LMS291的工作原理,分析了影响LMS291测距性能的误差因素,通过统计分析对测距数据进行标定,研究了不同物体表面属性对测距精度的影响;通过混合像素测定方法确定LMS291的角度分辨率;通过对激光雷达测距性能的试验,建立测距误差模型。所得结论可以为复杂非结构化环境下移动机器人导航中障碍检测、环境建模及自定位提供支持。 Range detection is a crucial problem for the navigation of mobile robot. The operation principle of 2D laser scanner LMS291 is introduced simply, which is based on time of flight. Then, its error factors of ranging performance are analyzed. With the statistic analysis of data alignment, ranging accuracy of laser scanner under the influence of various target surface property is studied. At the same time, the angular resolution is determinated by the measuring method of mixed pixel and the error model is built by the experiments on ranging performance of laser scanner. The conclusions can provide the support for obstacles detection, environment map and self-localization in the navigation of mobile robot under complex and unstructured environment.
出处 《传感技术学报》 EI CAS CSCD 北大核心 2006年第2期356-360,共5页 Chinese Journal of Sensors and Actuators
基金 国家自然科学基金重点项目资助(60234030)
关键词 激光雷达 测距性能 数据标定 物体表面的属性 混合像素 laser scanner ranging performance data alignment target surface property mixed pixel
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参考文献8

  • 1Robin R Murphy(著),杜军平,吴立成,胡金春,等(译).人工智能机器人学导论[M].北京:电子工业出版社,2004.
  • 2杨明,王宏,何克忠,张钹.基于激光雷达的移动机器人环境建模与避障[J].清华大学学报(自然科学版),2000,40(7):112-116. 被引量:48
  • 3Martinez J L,et al.Object Following and Obstacle Avoidance Using a Laser Scanner in Outdoor Mobile Robot Auriga-a[C].In:Proc.of IEEE/RSJ Int.Conf.on Intelligent Robots and Systems(IROS'98).Victoria,Canada,1998:204-209.
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  • 6SICK AG Corp.Technical Description:LMS200/ LMS211/LMS220/LMS221/LMS291 Laser Measurement Systems[EB/OL].//http.www.sick.com.
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二级参考文献2

  • 1Yang M,Proc 1999 International Symposium on Test and Measurement [C],1999年,929页
  • 2Wang Tianmiao,Proc of The 1 992 IEEE InternationalConference on Robotics and Automation,1992年,2549页

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引证文献13

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