数字滤波器在移动机器人地图创建中的应用  

Application of digital filter on map building for mobile robot

作　　者：夏明亮[1] 

机构地区：[1]南京工程学院计算机工程学院,江苏南京211167

出　　处：《企业技术开发》2010年第11期1-3,共3页Technological Development of Enterprise

摘　　要：超声波传感器作为一种典型的测距传感器已被广泛应用于移动机器人的导航、避障与地图创建中。由于超声波传感器存在波束角,具有方向性差且易发生多次反射等缺点,因此,建立合适的超声波传感器模型并有效处理数据是关键。文章在分析超声常用模型的基础上,采用了弧线超声波模型,并将"数字滤波器"的概念移植到超声信息融合上来,旨在提高超声方向的可靠性,实验证明该方法可改善环境地图的创建。As a typical distance sensor,the ultrasonic sensor has been widely used in mobile robot navigation,obstacle avoidance and map building.But it have some disadvantages,such as there are beam angle,poor direction and prone to reflections by some obstacles.Therefore,the key is to establish a suitable model for ultrasonic sensors and effectively process ultrasonic data.In the paper,we use arc models to simplicity ultrasonic information.And then the digit filter is presented to improve the direction and fuse ultrasonic data.Experiments proves that the environment map building can be improved.

关 键 词：移动机器人 超声波传感器 弧线模型 数字滤波器 地图创建 

分 类 号：TN713.7[电子电信—电路与系统]