基于分布式导航信息的大范围环境机器人导航  

Robot navigation in a large scale environment based on distributed navigation information

作　　者：田国会[1] 张涛涛[1] 吴皓[1] 薛英花[1] 周风余[1] 

机构地区：[1]山东大学控制科学与工程学院,山东济南250061

出　　处：《山东大学学报（工学版）》2011年第1期24-31,共8页Journal of Shandong University（Engineering Science）

基　　金：国家高技术研究发展计划(863计划)重点资助项目(2006AA040206);国家高技术研究发展计划(863计划)资助项目(2009AA04Z220)

摘　　要：针对大范围半未知环境下的机器人导航问题,基于认知理论提出了"分布式导航信息获取模式"。采用二维码技术设计了一种新型人工地标,并给出了其识别及识读的方法。通过在关键点位置配置不同的人工地标,基于导航信息的分布式表达,将大范围半未知环境下的机器人导航划分为全局引导层和局部搜寻层,使机器人在大范围半未知环境下的导航摆脱了传统的地图创建-全局定位-路径规划模式的限制。实验验证了该导航方法的有效性。A distributed navigation information acquisition mode（DNIAM） based on cognition theory was proposed for robot navigation in large scale semi-unknown environment.A new style of artificial landmark was designed adopting the two-dimensional bar code technology,and the methods to identify and read the artificial landmarks were simultaneously given.By placing relevant artificial landmarks on the critical positions,the robot navigation in the absolute large scale semi-unknown environment could be divided into a global guide layer and a local search layer based on the distributed navigation information.The DNIAM makes robot navigation in large scale semi-unknown environment get rid of the restriction of the traditional mode of ＂map building-global locating-path planning＂.The validity of this method was verified by experiments.

关 键 词：二维码技术 人工地标 大范围半未知环境 移动机器人 导航 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]