摘要
移动机器人在复杂未知环境中精确定位并对周围环境进行地图构建有助于机器人对环境的准确理解,是机器人进一步完成各种复杂智能任务如路径规划和避障等的关键和前提.通过对移动机器人未知环境中定位和地图创建问题进行讨论,设计了一种构建2D可视化路标特征地图的方案,该方案结合单目视觉传感器和里程计的鲁棒感知模型,建立包含世界坐标系下三维信息的路标数据库,获得全局环境下特征地图的同时,完成了轮式移动机器人的导航.实验显示了构图方案的可行性.
Precise localization of the mobile robot and mapping of unknown environment help the robot to know the environment better,which is the key for the robot to achieve future complex intelligent tasks such as path planning and obstacle avoidance.By discussing mobile robot localization and mapping in an unknown environment.We design a method to build two-dimensional visual landmarks feature map.The method is based on monocular vision sensor and odometer of the robust perceptual model to build the three-dimensional information landmarks database in the world coordinate system and gain feature map,and at the same time complete the navigation of Wheeled Mobile Robot.Results show that the composition programs are suitable.
出处
《哈尔滨理工大学学报》
CAS
北大核心
2011年第1期42-47,共6页
Journal of Harbin University of Science and Technology
基金
国家自然科学基金(50675161)(60705035)
