基于激光测距的移动机器人3-D环境感知系统设计  

Design of 3-D perceptual system based on laser rangefinder for mobile robot

作　　者：邹小兵[1] 蔡自兴[1] 于金霞[1] 孙国荣[1] 

机构地区：[1]中南大学信息科学与工程学院,长沙,410083

出　　处：《高技术通讯》2005年第9期38-43,共6页Chinese High Technology Letters

基　　金：国家自然科学基金

摘　　要：采用2-D扫描的激光测距传感器与精密转动云台设计并实现了非结构化环境下的移动机器人感知系统,通过传感器平台俯仰与水平的转动实现了3-D环境感知.针对噪声干扰提出了一种动态自适应滤波器,通过时间与空间上相邻测量值的分析实现了实时动态的滤波.在3-D环境的地形重建过程中,结合中值滤波器与高斯滤波器实现了高度图的平滑与插补.通过地形平坦性分析判断移动机器人的可行区域与障碍区域,从而为移动机器人导航过程中的环境建模与路径规划提供了支持.A 3-D perceptual system is designed and implemented for a mobile robot under unstructured environment. The system is based on a 2-D laser rangefinder mounted on a high precision platform with two freedom of horizontal and pitch rotation. For removing spurious data and minimizing error, a dynamic adaptive filter is presented through the analysis of neighboring measured data in time and spatial correlation. The median filter and Gaussian filter are adopted to smooth and interpolate the elevation map of 3-D environmental surface reconstruction. An elevation map are built and used for terrain traversability assessment in order to classify the navigable area and obstacle area of environment. The perceptive system can provide the support for environment modeling and path planning in robot navigation.

关 键 词：移动机器人 激光测距 高度图 滤波 地形平坦性分析 激光测距传感器 非结构化环境 感知系统 系统设计 3-D 自适应滤波器 高斯滤波器 中值滤波器 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置] U469.4[自动化与计算机技术—控制科学与工程]