摘要
随着激光扫描技术的发展,基于激光扫描系统的室内环境地图构建技术广泛地被运用到机器人的视觉导航中。针对当前研究中所使用的激光扫描仪体积笨重、价格昂贵,不适合小型移动机器人装配的不足,提出一种由智能小车和低成本的360°激光雷达组成的二维环境地图构建系统。系统由硬件系统和软件系统两部分组成。通过硬件系统对环境进行感知,提取周围环境特征信息,通过软件系统完成二维环境地图的实时创建,实现基于激光雷达构建室内环境地图的任务。在得到环境地图的基础上,采用最小二乘法对初始数据进行滤噪处理,以获得更为精确的环境地图。实验结果表明,本系统成本低,性能高,能精确的构建二维环境地图,并成功应用于室内小型移动机器人的视觉导航中。
With the development of laser scanning technology, the technology of indoor environment map reconstruction based on laser scanning system is widely used in the visual navigation of robot. The laser scanner used in the present study is bulky and expensive, and is not suitable for the assembly of small mobile robot. A two--dimensional environment nutp construction system is proposed, which is composed of a smart car and a low cost 360 degree laser radar. The system is composed of two parts, the hardware system and the software system. The environment is perceived by the hardware system, and the information of the surrounding environment is extracted. Through the software system to complete the creation of the two- dimensional environment map, the task of building the indoor environment map based on the laser radar is realized, On the basis of the environment map, the method of least square method is used to fiher the initial data to obtain a more accurate environment map. Experimental results show that the system has low east, high performance, and can be used to construct a two--dimensional environment map, and it can be used in the visual navigation of indoor mobile robot.
出处
《机械设计与制造》
北大核心
2017年第5期135-137,共3页
Machinery Design & Manufacture
基金
中国博士后科学基金(2012M510424)
中央高校基本科研业务费专项基金项目(800015FH)
