摘要
主要研究室内未知环境下移动机器人基于超声波传感器的地图创建问题.针对超声波传感器角分辨率低、可能发生镜面反射等固有缺陷,通过分析相邻传感器信息间的相互关系建立精确的局部环境模型,并以此为基础提出一种用于地图创建的主动探测策略.利用移动机器人在室内环境下进行地图创建实验,并将实验结果与其他常用的基于超声波传感器的地图创建算法进行比较.实验结果表明,基于主动探测策略的地图创建算法能够克服超声波传感器的固有缺陷,以较为准确、高效的方式建立室内环境的完整地图.
The mobile robot mapping in unknown indoor environment based on sonar sensors is discussed. Aiming at the inherent limitations such as poor azimuth resolution and specular reflection, an accurate local environment model is achieved by analyzing the relationship of adjacent sonar information, and an active exploration strategy for robot mapping is presented based on this model. Comparative experiments are conducted on a real mobile robot in indoor environment using the proposed mapping algorithm and another popular mapping algorithm. Experimental results show that the proposed algorithm can overcome the inherent limitation of sonar sensor and get a complete map of the indoor environment accurately and effectively.
出处
《模式识别与人工智能》
EI
CSCD
北大核心
2006年第5期591-597,共7页
Pattern Recognition and Artificial Intelligence
