未知环境下移动机器人的下一个最佳探测视点算法分析-analysis of the next best detection viewpoint algorithm for mobile robots in unknown environment.docxVIP

Abas Abastract PAGE PAGE IV ABSTRACT Intelligent mobile robot is a comprehensive perception system, which includes a set of sensor technology, planning and decision-making, and artificial intelligence and other disciplines in one function, and can make independently to complete a specific task. With the development of computer technology and the explosive update, information processing and intelligent control theory is completed, the domestic and foreign scholars pay more attention to the research and application of the technology of mobile robot. Autonomous Exploration Planning in unknown environment is an important research topic in the field of mobile robot navigation. Autonomous exploration planning is the path planning which can be understood as a kind of special point - to – point. In a relatively short period , with the help of he sensor carried by itself, the robot can get the information about unknown region as large as possible around it.In this way, there is the real-time control of robot motion, so it can construct an unknown map. To ensure the efficiency and the accuracy of the unknown environment map building, and to improve the autonomy of the machine, the exploration planning has important application value. But under the help of the uncompleted map information, to ensure the completeness of the optimality and probe the entire path, this has been a problem in the field. The corresponding detection algorithm also emerges as the times require. In the detection of planning, this paper conducts extensive research, which includes the generation of the viewpoint detection, point-to-point path planning viewpoint, and the core aspects of detection assessment. The following work is completed. ①This paper proposed the generation method of detection view point, based on the rectangular ring frontier areas in the first time, this matter generates the detection region of the viewpoint based on the detection radius, and then traverses the region based on the ca