轮式机器人环境建图计量评价方法研究  

Research on measurement and evaluation method of environment mapping of wheeled robot

作　　者：张昱 温聚英[2] 姜延欢 崔佳慧 吴娅辉[1] 田森 ZHANG Yu;WEN Juying;JIANG Yanhuan;CUI Jiahui;WU Yahui;TIAN Sen(Science and Technology on Metrology and Calibration Laboratory,Changcheng Institute of Metrology&Measurement,Beijing 100095,China;China Academy of Launch Vehical Technology,Beijing 100076,China)

机构地区：[1]航空工业北京长城计量测试技术研究所计量与校准技术重点实验室,北京100095 [2]中国运载火箭技术研究院,北京100076

出　　处：《计测技术》2023年第2期19-27,共9页Metrology & Measurement Technology

基　　金：国家技术基础项目(KBC52102580);航空工业计量所创新基金(ZC02201580)。

摘　　要：针对移动机器人环境建图计量评价指标缺失和评价技术不完善的问题,本文以轮式机器人和FastSlam建图算法为研究对象,通过构造实物场景和标准数字地图,提取准确、有效、可靠的环境地图评价指标,全方位对激光雷达和其建图结果进行计量评价。本方法提出全局特征参数和局部特征参数等多种评价指标,为移动机器人环境建图质量和环境建图算法优越性的合理评价提供支撑。In view of the lack of indicators and the imperfection of technology in measurement and evaluation of mobile robot environment mapping,this paper takes wheeled robot and FastSlam mapping algorithm as the research object,constructs physical scene and standard digital map,and extracts accurate,effective and reliable environmental map evaluation indicators to measure and evaluate the mapping sensor lidar and its mapping results from all directions.This method proposes multiple evaluation indicators such as global feature parameters and local feature parameters,providing support for the reasonable evaluation of the quality of mobile robot environmental mapping and the superiority of environmental mapping algorithms.

关 键 词：评价指标 激光雷达 实物验证平台 标准数字地图 环境建图 

分 类 号：TB9[一般工业技术—计量学] TJ06[机械工程—测试计量技术及仪器]