摘要
移动机器人在进行未知环境探索时,需要记录保存其行驶轨迹,以便进行定位、路径规划、地图更新等处理。本文给出一个直线拟合的优化算法,对移动机器人采集的原始坐标信息进行分析,可去除大量冗余信息,得到准确、精简、必要的运动轨迹信息。该算法在移动机器人轨迹记录中得到了有效应用,节省了存储空间,且满足移动机器人的实时性。仿真及实际测试均显示,该直线拟合优化算法是快速、高效的。
Mobile robots need record motion track in exploring an unknown environment for localization, path planning and map updating. An optimized linear fitting algorithm is proposed. It can analyze the original coordinate information of mobile robot, remove a lot of redundant information, and provide accurate, simplified, and necessary trajectory information. The algorithm is effectively applied in the track recording of mobile robot. It saves large storage space, and satisfies real-time of robot. The simulation and practical test all show that, the algorithm is fast, efficient.
出处
《计算机与现代化》
2012年第8期10-12,共3页
Computer and Modernization
基金
江苏科技大学科研项目(2009JJ019F)
关键词
直线拟合算法
移动机器人
轨迹记录
linear fitting algorithm
mobile robot
track recording
