摘要
环境建模技术是移动机器人自主导航研究中的一个关键问题。为了实现机器人在未知环境下的自主导航,本文在分析当前普遍采用的一些环境建模方法及其缺点的基础上,提出一种基于多传感器信息融合的环境建模方法。实验结果表明该方法有效地克服了传感器的累计误差,有效地提高了环境建模的准确性。此方法的可行性和有效性通过Pioneer3-DX移动机器人得到了实验验证。
Environment modeling is one of the most important issues to tackle in autonomous navigation. The environment modeling methods are prevalent adopted and the disadvantages of these methods were analyzed. In order to achieve the requirement of autonomous navigation in an unknown environment, this paper proposes a environment modeling algorithm based on multi-sensor information fusion. Experiment result proves that the proposed algorithm overcomes the uncertainty of sensor information obviously, and improves the environment modeling precision efficiently. Pioneer3-DX proves that the proposed algorithm indicate the feasibility and validity
出处
《微计算机信息》
2012年第3期75-77,共3页
Control & Automation
关键词
移动机器人
环境建模
多传感器信息融合
扩展卡尔曼滤波
mobile robot
environment modeling
multi-sensor information fusion
extended Kalman filter
