基于激光信息的移动机器人SLAM研究  

Research on Mobile Robot SLAM Based on Laser Information

作　　者：柳俊城 李迪[1] 翁潇文 LIU Jun-cheng;LI Di;WENG Xiao-wen(School of Mechanical and Automotive Engineering,South China University of Technology,Guangzhou 510640,China)

机构地区：[1]华南理工大学机械与汽车工程学院,广州510640

出　　处：《自动化与仪表》2018年第6期43-47,共5页Automation & Instrumentation

基　　金：国家自然科学基金资助项目(51575194);广东省自然科学基金资助项目(2015A030308002);中央高校基本科研业务费专项资金资助项目(2017MS016)

摘　　要：随着移动机器人技术的不断发展,传统的导航技术如电磁导航由于原理的限制已无法满足现代工业生产环境中灵活性的需求。文中提出使用能输出激光信息的传感器,将其获得的激光测距信息进行地图构建;以移动机器人Powerbot为平台,使用Rao-Blackwellised粒子滤波器,在自身定位过程中使用粒子滤波的方法来估算移动机器人的运动轨迹,在地图更新时使用扩展卡尔曼滤波方法来实现地图的实时更新;采用此算法结合机器人操作系统进行了实际移动机器人SLAM验证。试验结果表明,在室内环境下采用该算法能准确对机器人进行位姿定位和地图构建。With the development of mobile robot technology ,traditional navigation technology such as electromagnetic navigation,cannot meet the needs of flexibility in modern industrial production environment due to the limitation of principle. A sensor which can output laser information is proposed,and the laser ranging information obtained by the sensor is used for map construction. The mobile robot Powerbot is used as a platform,Rao-Blackwelled particle filter is used,particle filter is used to estimate the mobile robot＇s motion trajectory in the process of self-localization,and extended Kalman filter is used to realize real-time map updating. The slam verification of the actual mobile robot is carried out by using this algorithm combined with the robot operating system. The experimental results show that the proposed algorithm can accurately position and map the robot in indoor environment.

关 键 词：移动机器人 同时定位与地图构建 激光信息 激光导航 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]