本文選題：RPLIDAR + 激光雷達(dá)�。� 參考：《機(jī)械設(shè)計(jì)與制造》2017年05期

【摘要】：隨著激光掃描技術(shù)的發(fā)展,基于激光掃描系統(tǒng)的室內(nèi)環(huán)境地圖構(gòu)建技術(shù)廣泛地被運(yùn)用到機(jī)器人的視覺導(dǎo)航中。針對當(dāng)前研究中所使用的激光掃描儀體積笨重、價(jià)格昂貴,不適合小型移動機(jī)器人裝配的不足,提出一種由智能小車和低成本的360°激光雷達(dá)組成的二維環(huán)境地圖構(gòu)建系統(tǒng)。系統(tǒng)由硬件系統(tǒng)和軟件系統(tǒng)兩部分組成。通過硬件系統(tǒng)對環(huán)境進(jìn)行感知,提取周圍環(huán)境特征信息,通過軟件系統(tǒng)完成二維環(huán)境地圖的實(shí)時創(chuàng)建,實(shí)現(xiàn)基于激光雷達(dá)構(gòu)建室內(nèi)環(huán)境地圖的任務(wù)。在得到環(huán)境地圖的基礎(chǔ)上,采用最小二乘法對初始數(shù)據(jù)進(jìn)行濾噪處理,以獲得更為精確的環(huán)境地圖。實(shí)驗(yàn)結(jié)果表明,本系統(tǒng)成本低,性能高,能精確的構(gòu)建二維環(huán)境地圖,并成功應(yīng)用于室內(nèi)小型移動機(jī)器人的視覺導(dǎo)航中。
[Abstract]:With the development of laser scanning technology, building indoor environment map based on laser scanning system is widely used in robot vision navigation. Aiming at the disadvantages of the laser scanner used in the current research, which is bulky, expensive and not suitable for the assembly of small mobile robots, a two-dimensional environmental map construction system composed of intelligent car and low cost 360 擄lidar is proposed. The system consists of hardware system and software system. The hardware system is used to perceive the environment and extract the information of the surrounding environment. Through the software system, the real-time creation of two-dimensional environmental map is completed, and the task of building indoor environmental map based on lidar is realized. On the basis of obtaining the environmental map, the least square method is used to filter the initial data to obtain a more accurate environmental map. The experimental results show that the system has the advantages of low cost and high performance. It can accurately construct two-dimensional environmental map and is successfully applied to the visual navigation of indoor small mobile robot.
【作者單位】： 中國礦業(yè)大學(xué)(北京)機(jī)電與信息工程學(xué)院;廣西水利電業(yè)集團(tuán)有限公司;
【基金】：中國博士后科學(xué)基金(2012M510424) 中央高�；究蒲袠I(yè)務(wù)費(fèi)專項(xiàng)基金項(xiàng)目(800015FH)
【分類號】：TN958.98;TP242

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