对激光雷达导引机器人路标定位的研究  

Research on Mobile Robot Localization Method Based on Landmarks Information

作　　者：赵华东[1] 程苏全 翟晓彤 ZHAO Hua-dong;CHENG Su-quan;ZHAI Xiao-tong(School of Mechanical Engineering,Zhengzhou University,He’nan Zhengzhou450001,China)

机构地区：[1]郑州大学机械工程学院,河南郑州450001

出　　处：《机械设计与制造》2020年第6期278-281,285,共5页Machinery Design & Manufacture

摘　　要：精确定位是移动机器人的关键技术,也是移动机器人领域的基础.采用路标定位方法,提出了一种地图构建方法及路标检测方法,利用路标之间的距离为匹配特征,将检测路标与实际路标进行匹配,从而实现移动机器人的精确定位.该方法大大提高了定位精度,同时降低了传统路标检测算法的复杂性,提高了算法应用的灵活性.工业用激光雷达定位算法封装严密,保密性很强,定位系统的附加值很高,甚至超过了激光雷达的本体价格.通过理论分析,针对采用激光雷达定位的移动机器人,提出一种基于反射板精确定位的算法,为激光雷达定位系统的大规模开发提供了理论基础.Precise Positioning is the key technology and the basis of mobile robots.We adopt the method of landmarks based localization for map building and target detection,which uses the distance of the landmarks as the match feature to match detective landmarks to actual landmarks in order tolocate themobile robots precisely.The approach has reduced the complexity of the traditional landmarks detected algorithm,and improved the location accuracy and flexibility of algorithm applications.The location algorithms of industrial laser radars have tight encapsulation and strong confidentiality.However,the additional value of the positioning system was extremely higher than even the price of the laser radar.We study the positioning method via theoretical analysis and propose an algorithm based on the precise positioning of baffle plates aiming at the mobile robots of laser radar positioning.The algorithm provides a theoretical base for large-scale development of laser radar positioning systems.

关 键 词：激光雷达 反射板 路标 定位 机器人 路标识别 

分 类 号：TH16[机械工程—机械制造及自动化] TP242.6[自动化与计算机技术—检测技术与自动化装置]