摘要
提出了一种基于扫描点匹配的未知环境下机器人定位与运动物体侦测方法。该方法利用同一性检验原则完成扫描点类型判断,有效减小由环境运动物体引起的机器人定位误差,提高了动态环境下机器人同时定位与地图构建的准确性。该方法的引入提高了基于扫描点匹配的SLAM方法在实际环境中的应用价值,同时拓展了传统SLAM的研究和应用范围,使之可以与目标跟踪方法相结合。通过实体机器人实验证明了该方法的有效性。
An approach of robot allocating and detection of moving objects was proposed based on the matching of scanning points,in which the judgment of scanning point types was completed by means of the principle of identity inspection,then,effectively reducing the errors of robot allocating induced by moving objects and improving the accuracy of simultaneous allocating and structuring of map for robots in dynamic environment.The introduction of the method enhanced the application value of the scanning point matching-based SLAM method in real environment and also expanded the ranges of study and application of traditional methods of SLAM,letting it can combine with object tracking method.Finally,real robot experiments show that the method is effective.
出处
《山东科技大学学报（自然科学版）》
CAS
2012年第3期66-73,共8页
Journal of Shandong University of Science and Technology(Natural Science)
基金
国家高技术研究发展计划("863"计划)项目(2006AA04Z258)
关键词
同时定位与地图构建
运动目标侦测
动态环境
栅格地图
近邻点迭代匹配算法
simultaneous allocating and structuring of map
detection of moving objects
dynamic environment
gird map
iterative closest point matching algorithm
