基于SLAM算法的机器人智能激光定位技术的研究  

Research on robot intelligent laser location technology based on SLAM algorithm

作　　者：赵妍[1] 解迎刚[2] 陈莉莉[1] ZHAO Yan;XIE Yinggang;CHEN Lili(Beijing Polytechnic, Beijing 100015 , China;Beijing Information Science and Technology University, Bejing, China)

机构地区：[1]北京电子科技职业学院,北京100176 [2]北京信息科技大学,北京100101

出　　处：《激光杂志》2019年第7期169-173,共5页Laser Journal

基　　金：北京市教委科研计划项目(No.KM201711232012)

摘　　要：为了提高机器人行走的自主地图规划能力,需要进行机器人智能定位设计,提出一种基于同时定位与地图创建技术(SLAM)的机器人智能激光定位技术。采用激光传感器量化跟踪融合方法构建机器人同时定位地图创建模型,根据机器人的环境适应度建立机器人运动空间环境,在存在障碍物的环境下采用最短路径寻优算法进行机器人信息素规划,在运动方向一致性条件下设计SLAM算法构建避障规则,结合激光传感技术实现机器人的移动路径定位。仿真结果表明,采用该方法进行机器人智能激光定位精度较高,机器人的路径规划准确性较好,避障能力较强。In order to improve the ability of autonomous map planning for robot walking, it is necessary to design the intelligent location of robot. A robot intelligent laser positioning technology based on simultaneous localization and map creation technology ( SLAM ) is proposed. Using the laser sensor quantization tracking fusion method to construct the robot location map creation model, according to the robot environment fitness, the robot motion space environment is established. In the presence of obstacles, the shortest path optimization algorithm is used for robot pheromone plan ning ,the SLAM algorithm is designed under the condition of consistent motion direction to construct obstacle avoidance rules, and the laser sensing technology is used to locate the mobile path of the robot. The simulation results show that the intelligent laser positioning accuracy is higher, the path planning accuracy is better and the obstacle avoidance a? bility is better.

关 键 词：SLAM算法 机器人 智能激光定位 路径规划 

分 类 号：TN209[电子电信—物理电子学]