基于ROS与Kinect的移动机器人同时定位与地图构建  

Mobile robot simultaneous localization and mapping based on ROS and Kinect

作　　者：王权[1,2] 胡越黎[1,3,2] 张贺[1,2] 

机构地区：[1]上海大学机电工程与自动化学院,上海200072 [2]上海市电站自动化技术重点实验室,上海200072 [3]上海大学微电子研究与开发中心,上海200072

出　　处：《计算机应用研究》2017年第10期3184-3187,共4页Application Research of Computers

摘　　要：同时定位与地图构建(SLAM)技术一直以来都是移动机器人实现自主导航和避障的核心问题。由于传统的1D和2D传感器,如超声波传感器、声呐和激光测距仪等在建图过程中无法检测出Z轴(垂直方向)上的信息,易增加机器人发生碰撞的概率,同时影响建图结果的精确度。为了弥补前人研究中仅采用的2D激光数据的不足,针对Kinect三维数据转换进行了研究,将其采集到的水平视角和垂直视角上的信息相互融合转换成二维的激光数据进行地图构建。借助机器人操作系统(robot operating system,ROS)进行仿真分析和实际测试,结果表明Kinect可以弥补1D和2D传感器采集信息的不足,同时能够较好地提升建图的完整性和可靠性,适用于室内的移动机器人SLAM实现。Simultaneous localization and mapping （SLAM） has always been the key technology to achieve mobile robot autonomous navigation and obstacle avoidance. Traditional 1D and 2D sensors such as ultrasonic sensor, sonar and laser range finder for area mapping is not precise. Because they can not detect information in vertical direction, it is likely to increase the probability of robot collision and inaccurate mapping. To compensate for the lack of 2D laser data in previous studies, this paper presented a method which collected 3D information from Kinect merged into 2D laser data. With the help of robot operating system （ROS） simulation analysis and practical tests, the verified results show that Kinect can make up the lack of 1D and 2D sensor to collect information and it can also promote the integrity and reliability of the mapping. Kinect is suitable for mobile robot SLAM indoor realization.

关 键 词：移动机器人 KINECT 同时定位与地图构建 机器人操作系统 

分 类 号：TP751[自动化与计算机技术—检测技术与自动化装置]