基于SLAM的移动机器人避障研究  

Research on Obstacle Avoidance of Mobile Robot Based on SLAM

作　　者：李敖 LI Ao(Northeastern University at Qinhuangdao,Qinhuangdao,Hebei 066000,China)

机构地区：[1]东北大学秦皇岛分校,河北秦皇岛066000

出　　处：《自动化应用》2023年第3期23-26,共4页Automation Application

摘　　要：随着人工智能理论的成熟和算力的不断提高,移动机器人具有更加广阔的发展空间。作为移动机器人的核心算法----同步定位与建图(Simultaneous Localization and Mapping,SLAM)技术是一种移动机器人在陌生环境下实现自身实时定位和环境建图的重要方法。相对于其他SLAM方法,基于激光信息的SLAM在构建地图时,距离测量比较准确、误差模型简单,在强光直射以外的环境中运行稳定,可以提高移动机器人在不同环境下的自主避障能力。因此,本文基于激光SLAM对路径规划算法进行研究、优化定位和导航技术,以期提高在实际环境下移动机器人的自主避障效率。With the maturity of artificial intelligence theory and the continuous improvement of computing power,mobile robots have a broader development space.As the core algorithm of mobile robots,the technology of simultaneous localization and mapping(SLAM)is an important method for mobile robots to realize their own real-time localization and environmental mapping in unfamiliar environments.Compared with other SLAM methods,SLAM based on laser information is more accurate in distance measurement,simple in error model,and stable in the environment other than direct light,which can improve the autonomous obstacle avoidance ability of mobile robots in different environments.Therefore,this paper studies the path planning algorithm,optimizes the positioning and navigation technology based on laser SLAM,in order to improve the autonomous obstacle avoidance efficiency of mobile robots in the actual environment.

关 键 词：移动机器人 机器人操作系统 同步定位与建图 路径规划 避障 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]