摘要
为了使救援机器人在灾害发生救援过程中更好地了解环境空间信息,规划出一条最优搜索目标路径,提出救援机器人搜索目标路径环境快速建模方法。采用贝叶斯滤波器计算栅格占用率,获得静态、动态地图逆向传感器,使用URG-04LX暗光条件激光雷达,得到不同方向上障碍物位置信息构成的扇形平面,并利用拓扑方法处理地图,准确体现出障碍物位置关系信息,依据基于主动生长的栅格Voronoi图生成现场环境模型。仿真结果表明,利用所提方法设计的实验机器人在行驶的过程中没有碰到任何障碍物,说明上述环境模型对环境区域描述精准度比较高。
In order to make the rescue robot understand the environmental information in disaster rescue and plan an optimal path, this paper presented a fast-modeling method of search target path environment for rescue robot. The grid occupancy rate was calculated using Bayesian filter, and then static and dynamic map reverse sensors were obtained. URG-04 LX lidar in low light was used to obtain the fan-shaped plane composed of position information of the obstacle in different directions. The topology method was used to process maps and thus to accurately reflect the position relationship between obstacles. Finally, the environment model was built by the grid Voronoi map based on active growth. Simulation results show that the designed robot does not encounter any obstacles when driving, so the environment model has high accuracy in describing the environment area.
作者
包琳
高巍
BAO Lin;GAO Wei(DaLian Ocean University,Dalian Liaoning 116023,China)
出处
《计算机仿真》
北大核心
2021年第4期272-275,347,共5页
Computer Simulation
关键词
救援机器人
环境模型
栅格法
拓扑方法
Rescue robot
Environment model
Grid method
Topology method
