移动机器人导航中激光雷达测距性能研究  

Research on Ranging Performance of Laser Scanner in the Navigation of Mobile Robot

作　　者：于金霞[1,2] 蔡自兴[1] 邹小兵[1] 段琢华[1,3] 

机构地区：[1]中南大学信息科学与工程学院 [2]河南理工大学计算机科学与技术学院,河南焦作454003 [3]韶关学院计算机科学系,广东韶关512003

出　　处：《传感技术学报》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)

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.

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 

分 类 号：TN958.98[电子电信—信号与信息处理]