嵌入式激光雷达下室内移动机器人动态定位方法  

Dynamic localization of indoor mobile robot based on embedded lidar

作　　者：李康 余智斌 周作梅[1] LI Kang;YU Zhibin;ZHOU Zuomei(College of Microelectronics and Artificial Intelligence,Kaili University,Kaili Guizhou 556011,China)

机构地区：[1]凯里学院微电子与人工智能学院,贵州凯里556011

出　　处：《激光杂志》2024年第1期218-222,共5页Laser Journal

基　　金：黔东南州科学技术局项目(No.黔东南科合J字[2022]75号);贵州省教育厅青年科技人才成长项(No.黔教合KY字[2022]087号)。

摘　　要：由于空间的限制,室内移动机器人在操作过程中对位置确认的要求较高,存在移动轨迹定位偏离的问题。为此提出嵌入式激光雷达下室内移动机器人动态定位方法。利用坐标转换以及欧式距离分割法对采集的激光雷达数据实施预处理,去除噪声对后续定位的影响。通过回波强度确定反光板的位置拟合变化,利用三边定位算法对移动机器人实施精准定位。经实验验证,该方法的定位误差较小,不仅可以实现室内移动机器人整体高精度的动态定位,而且可以很好地监测室内移动机器人的轨迹。Due to the space limitation,the indoor mobile robot requires higher confirmation of position during operation,and the problem of village moving track positioning deviation.Therefore,a dynamic localization method of indoor mobile robot based on embedded laser radar is proposed.The collected lidar data are preprocessed by coordinate transformation and European range segmentation to remove the influence of noise on subsequent positioning.The echo intensity is used to determine the position fitting change of the reflector,and the trilateral positioning algorithm is used to precisely locate the mobile robot.The experimental results show that the positioning error of this method is small.It can not only realize the high-precision dynamic positioning of the indoor mobile robot as a whole,but also monitor the trajectory of the indoor mobile robot very well.

关 键 词：嵌入式激光雷达 移动机器人 动态定位 数据处理 噪声平滑 

分 类 号：TN249[电子电信—物理电子学]