基于垂线和水平线的机器人自定位方法  

ROBOT SELF LOCATION BASED ON VERTICAL AND HORIZONTAL LINES

作　　者：杨毅[1] 杨长江[1] 胡占义[1] 

机构地区：[1]中国科学院自动化研究所模式识别国家重点实验室,北京100080

出　　处：《计算机学报》1999年第7期673-687,共15页Chinese Journal of Computers

基　　金：国家自然科学基金;国家八六三高技术研究发展计划

摘　　要：对基于垂线和水平线的机器人自定位问题进行了系统的研究．所得主要结论如下： （１） 当空间直线都垂直于机器人运动平面时，机器人的位置与朝向无法线性求解；（２） 当空间直线都平行于机器人运动平面时，至少需要三组直线对应对（一组直线对应对由一条空间直线和对应的图像直线构成；垂直直线对应对是指空间直线为垂线的直线对应对；水平直线对应对是指空间直线为水平线的直线对应对）才能线性求解机器人的位置与朝向；（３）当空间直线都垂直于机器人运动平面时，至少需要三组直线对应对才能非线性求解机器人的位置与朝向；（４） 当空间直线都平行于机器人运动平面时，同样至少需要三组直线对应对才能非线性求解机器人的位置与朝向．Vertical and horizontal lines have been privileged for robot self location in the literature due to their wide availability in robot working environments. However, in this work, the vertical and horizontal lines provide less useful information for the determination of the robot's pose. More specifically, these conclusion are showed: (1) When the space lines are all vertical ones, it is impossible to determine linearly the robot's pose no matter how many line correspondences you have, and the minimum number of line correspondences is 3 to determine uniquely (but non linearly) the robot's pose. (2) When the space lines are all horizontal ones, the minimum number of line correspondences is 3 for linear and non linear determination of the robot's pose. Moreover, this paper obtains the necessary and sufficient condition to determine the robot's pose by three line correspondences.

关 键 词：机器人自定位 导航 直线对应 射影平面 

分 类 号：TN96[电子电信—信号与信息处理] TP249[电子电信—信息与通信工程]