应用激光雷达构建室内环境地图的研究

发布时间：2018-06-26 22:30

本文选题：RPLIDAR + 激光雷达　；参考：《机械设计与制造》2017年05期

【摘要】：随着激光扫描技术的发展,基于激光扫描系统的室内环境地图构建技术广泛地被运用到机器人的视觉导航中。针对当前研究中所使用的激光扫描仪体积笨重、价格昂贵,不适合小型移动机器人装配的不足,提出一种由智能小车和低成本的360°激光雷达组成的二维环境地图构建系统。系统由硬件系统和软件系统两部分组成。通过硬件系统对环境进行感知,提取周围环境特征信息,通过软件系统完成二维环境地图的实时创建,实现基于激光雷达构建室内环境地图的任务。在得到环境地图的基础上,采用最小二乘法对初始数据进行滤噪处理,以获得更为精确的环境地图。实验结果表明,本系统成本低,性能高,能精确的构建二维环境地图,并成功应用于室内小型移动机器人的视觉导航中。
[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 掳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.
【作者单位】：中国矿业大学(北京)机电与信息工程学院;广西水利电业集团有限公司;
【基金】：中国博士后科学基金(2012M510424) 中央高校基本科研业务费专项基金项目(800015FH)
【分类号】：TN958.98;TP242

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