移动机器人障碍物地图构建研究  

Research on Obstacle Map Construction of Mobile Robot

作　　者：程天明 陈元电[2] 苏成悦 徐胜[2] 杨尚儒[2] 刘拔 CHENG Tianming;CHEN Yuandian;SU Chengyue;XU Sheng;YANG Shangru;LIU Ba(School of Information Engineering,Guangdong University of Technology,Guangzhou 510000;School of Physics and Optoelectronic Engineering,Guangdong University of Technology,Guangzhou 510000)

机构地区：[1]广东工业大学信息工程学院,广州510000 [2]广东工业大学物理与光电工程学院,广州510000

出　　处：《现代计算机》2021年第20期38-43,共6页Modern Computer

基　　金：广东省科技计划项目(No.2017A020208063、201804010384)。

摘　　要：针对路面不平和地面障碍物严重影响轮式机器人行走问题,提出一种检测和构图的方法。激光雷达对地面探测获取点云数据,结合移动机器人位姿,计算出路面凹凸状态,进行平整性检测和标记,筛选出所有障碍物,得到凹凸障碍物地图。实验表明,该方法能构建障碍物地图并实现路面实时平整性检测,比普通栅格地图增加了小型和凹型障碍物信息。Aiming at the problem that uneven road and obstacles seriously affect the moving of mobile robot,a method of detection and mapping is proposed.Based on the point cloud data obtained from ground detection by LIDAR,combined with the pose of mobile robot,with the concave and convex state of road surface is calculated,the flatness is detected and marked.All obstacles are filtered out,and the concave and convex obstacle map is constructed.Experiments show that this method can construct the obstacle map and realize the real-time flatness detection of road and increase the information of small and concave obstacles compared with the ordinary grid map.

关 键 词：移动机器人 激光雷达 障碍物地图 平整性检测 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TN958.98[自动化与计算机技术—控制科学与工程] TP391.41[电子电信—信号与信息处理]