机器人超高分辨率立体网格导航地图建模研究

发布时间：2018-08-08 17:50

【摘要】：针对机器人定位和导航的具体应用需求,提出一种供"机器人"使用的超高分辨率立体网格导航地图的空间建模方法。创新性地将地理空间立体网格模型与机器人导航地图相结合,分析其空间跨度、网格单元和数据组织的一致性。详细分析了机器人导航地图的特点、数据来源和分类,及其与SLAM成图的区别和联系。以超高分辨率立体网格单元作为数据组织单元,将机器人导航地图空间数据集进行离散化,提出了机器人周围空间环境数据的集成管理方法,并进行了优化。利用超高分辨率地理空间立体网格模型对机器人周围环境空间网格进行统一编码和索引,实现了机器人周围环境的空间建模,为移动机器人定位和导航提供了统一的环境地图模型。并利用点云数据进行了试验,进一步论证了机器人超高分辨率立体网格导航地图建模的可行性。
[Abstract]:In order to meet the specific application requirements of robot positioning and navigation, a spatial modeling method of ultra-high resolution stereo grid navigation map for "robot" is proposed. Combining the geo-spatial three-dimensional grid model with the robot navigation map, the spatial span, the consistency of the grid element and the data organization are analyzed. The characteristics, data source and classification of the robot navigation map are analyzed in detail, and the difference and relation between the map and SLAM are also discussed. The spatial data set of robot navigation map is discretized by using super-high resolution stereo grid unit as data organization unit. The integrated management method of space environment data around robot is proposed and optimized. The spatial grid of robot surrounding environment is coded and indexed uniformly by using super-high resolution geo-spatial three-dimensional grid model, and the spatial modeling of robot surrounding environment is realized. It provides a unified environment map model for mobile robot positioning and navigation. Furthermore, the feasibility of robot super-high resolution stereo grid navigation map modeling is demonstrated by using point cloud data.
【作者单位】：信息工程大学地理空间信息学院;
【基金】：国防科技项目(3601023) 地理信息国家重点实验室基金(SKLGIE2015-Z-4-1) 信息工程大学校新兴科研方向培育基金(210502020)
【分类号】：TP242

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