基于超声波传感器的环境建模技术分析-analysis of environmental modeling technology based on ultrasonic sensor.docxVIP

优秀毕业论文 精品参考文献资料 摘 要 随着机器人技术的蓬勃发展，机器人越来越多了进入到我们的生产和生活。而移动 机器人作为机器人学的一个重要分支己经在军事、交通运输、工农业、服务和医疗卫生 等行业取得了广泛应用。移动机器人主要通过传感器来感知环境和本身状态，来实现在 有障碍物的环境中的自动运动。而机器人对的环境认知是机器人工作的前提，移动机器 人的地图创建就是为了解决移动机器人如何通过自身获得自然环境空间模型的问题，而 地图创建通常被认为是自主机器人构造真实环境问题中的重中之重。尽管在这块领域已 经取得意义重大的成绩，但仍然存在着很大的挑战。本文主要基于超声波传感器，以移 动机器人实验室的 PioneerⅡ机器人为实验平台，研究了室内环境地图创建的相关技术。 主要工作如下: (1)超声波传感器采用概率模型，以栅格地图为外部环境的描述对??，采用贝叶斯法 则对多个超声波传感器数据进行融合，实现了栅格地图的环境建模和地图更新。通过仿 真软件验证了算法的可行性实现了室内环境的地图创建。 (2)超声波传感器采用中心线模型，用 TBF 方法提取了室内静态环境中的障碍物信 息，然后用结合哈夫变换、同线性判断和最小二乘法的混合方法提取环境的直线特征信 息来拟合线段特征。实现了环境的特征地图建模，并用仿真软件软件验证了其可行性。 关键词：移动机器人 环境建模 超声波传感器 栅格地图 特征地图  ABSTRACT With the vigorous development of robotics, the robot are used more and more in our production and living. And the mobile robot has been widely used to the military,transportation, industrial and agricultural,medical and health services. Mobile robot use sensors to perceive the environment and their own status to achieve automatic movement in obstacle environment. Robot environmental awareness is a prerequisite for the work of robots. Map building accounts for the problem of quiring spatial models of physical environments through mobile robots. The problem of map building is generally regarded as one of the most important problems in the pursuit of building truly autonomous mobile robots. Despite significant progress in this area, it still reserves great challenges. To explain in hardware system and sonar sensor configuration of the mobile robot. The paper has mainly studied on the related method based on grid map building of indoor environment of mobile robot. It takes the mobile robot PioneerⅡas experiment platform, which is developed by Central South University Intelligent Lab. The main contribution and work of this paper are described as follows: 1. It takes probability model as the sonar model. This paper proposes PioneerⅡin a probabilistic method of grid map building based on Experiments. And using the Bayes rule to the integration of multiple ultr