基于激光传感器的移动机器人地图创建研究  

Research on Mobile Robot Map Building Based on Laser Sensor

作　　者：柯莉红 要鹏超 Ke Lihong;Yao Pengchao(College of Electronics and Information,Xi＇an Polytechnic University,Xi＇an 710048,China)

机构地区：[1]西安工程大学电子信息学院,西安710048

出　　处：《单片机与嵌入式系统应用》2018年第9期69-72,共4页Microcontrollers & Embedded Systems

摘　　要：主要研究了室内自主移动机器人基于激光传感器在未知环境下的地图创建的问题。分析了目前地图创建的方法,采用一种"聚合-分割-聚合"的方法提取线段用以表示环境信息,分为区域分割、线段提取和线段拟合三步骤。在区域分割和线段提取中提出动态阈值的方法,使得分割更为精确,能在较短的时间内获得一个精确的地图,最后采用最小二乘线段拟合方法获得线段参数。通过与当前全局地图比较,创建和更新全局地图。In the paper,the problem of indoor autonomous mobile robot＇s map creation based on laser sensor in unknown environment is studied.The method of map creation is analyzed.A ＂aggregation-segmentation-polymerization＂ method is used to extract line segments to represent the environment information,which is divided into three steps：regional segmentation,line segment extraction and line segment fitting.The method of dynamic threshold is proposed in the region segmentation and line segment extraction,which makes the segmentation more accurate,and can obtain an accurate map in short time.Finally,the line segment parameters are obtained by using the least square line segment fitting method.The global map is created and updated by comparing with the current global map.

关 键 词：移动机器人 激光传感器 线段提取 地图创建 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]