基于激光测距传感器的家庭机器人导航仿真.pdf

36 7 Vol136 No17 2 0 0 4 7 JOURNAL OF HARBIN INSTITUTE OF TECHNOLOGY July, 2004 蔡则苏, 洪炳 , 周浦城 ( , 1 0001, E-mail: caizesu@hit. edu. cn) : 通过将激光测距器的扫描数据和来自家庭机器人的里程计结合在 一起, 给出了 时定位和地图生 成的算法. 基于扩展卡尔曼滤波算法, 滤去不必要的数据, 直接将传感数据和环境特征相匹配, 融合激光扫描 数据和人工路标, 给出了机器人连续位置更新的方法. 仿真结果表明该方法较好地解决了室内机器人导航问 题. : 家庭机器人; 激光测距; 时定位和地图生成; 人工路标; 扩展卡尔曼滤波 : TP24 : A : 0367- 6234(2004) 07- 0902- 03 Navigating simulation of house robot based on laserfinder CAI Ze-su, HONG Bing-rong, ZHOU Pu-cheng ( School of Computer Science and Technology , Harbin Institute of Technology, Harbin 1 0001, China, E-mail: caizesu2hit. edu. cn) Abstract: An algorithm for simultaneous location and map building is presented by integrating the scanning data from a time-of-flight laser and the odometer readings from a mobile robot. Based on an extended Kalman filter, the continuous position updating for the robot is given by filtering the outliers and matching the sensor data andthe artif- ical landmarks. Simulation results show that the method performs navigation very well in an indoor environment. Key words: house robot; laser scanning; simultaneous localization and map building( SLAM) ; artificial landmark; extended kalman filter( EKF) , . [ 1] . , . . ( 1 时定位和地图生成 2 b) , [ 2] ( Simulatneous localization . [ 3] , , and map building, SLAM) [ ] . , , .