摘要
主要研究了室内自主移动机器人基于激光传感器在未知环境下的地图创建的问题。分析了目前地图创建的方法,采用一种分层聚类的方法从原始激光测量数据中提取直线特征,并计算直线特征参数的方差矩阵,最后通过Matlab仿真以及在带有激光型号为lms200的MT-r机器人进行物理实验验证了其可行性。结果所得为机器人实时定位和SLAM提供了理论依据。
The indoor independent mobile robot based on laser sensors in unknown environment map of the problem is studied. Analysis of the current creating map＇s methods, using a hierarchical clustering method from the original laser measurement data extraction straight line features, and calculation of characteristic parameters variance linear matrix, finally through the simulation of matlab and the MT-r with lms200 robot＇s physical experiments proved its feasibility. The results for robot real- time location and SLAM provides theory basis.
出处
《电子设计工程》
2012年第3期103-105,108,共4页
Electronic Design Engineering
基金
国家自然科学基金项目(61075087)
