基于主动探测的室内未知环境下移动机器人地图创建算法

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摘要主要研究室内未知环境下移动机器人基于超声波传感器的地图创建问题.针对超声波传感器角分辨率低、可能发生镜面反射等固有缺陷,通过分析相邻传感器信息间的相互关系建立精确的局部环境模型,并以此为基础提出一种用于地图创建的主动探测策略.利用移动机器人在室内环境下进行地图创建实验,并将实验结果与其他常用的基于超声波传感器的地图创建算法进行比较.实验结果表明,基于主动探测策略的地图创建算法能够克服超声波传感器的固有缺陷,以较为准确、高效的方式建立室内环境的完整地图.

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	周光明
	陈宗海
	刘年庆
	贾梦雷

关键词 ：超声波传感器, 移动机器人, 地图创建, 环境模型, 主动探测策略

Abstract：The mobile robot mapping in unknown indoor environment based on sonar sensors is discussed. Aiming at the inherent limitations such as poor azimuth resolution and specular reflection, an accurate local environment model is achieved by analyzing the relationship of adjacent sonar information, and an active exploration strategy for robot mapping is presented based on this model. Comparative experiments are conducted on a real mobile robot in indoor environment using the proposed mapping algorithm and another popular mapping algorithm. Experimental results show that the proposed algorithm can overcome the inherent limitation of sonar sensor and get a complete map of the indoor environment accurately and effectively.

Key words： Sonar Sensor Mobile Robot Mapping Environment Model Active Exploration Strategy

收稿日期: 2005-06-21

ZTFLH:

TP24

作者简介: 周光明,男,1978年生,博士研究生,主要研究方向为智能移动机器人.陈宗海,男,1963年生,教授,博士生导师,主要研究方向为复杂系统的建模、仿真与控制、智能机器人、量子信息控制等.E-mail: chenzh@ustc.edu.cn.刘年庆,男,1980年生,硕士研究生,主要研究方向为自主移动机器人、机器学习.贾梦雷,男,1979年生,硕士研究生,主要研究方向为智能移动机器人.

引用本文:

周光明，陈宗海，刘年庆，贾梦雷. 基于主动探测的室内未知环境下移动机器人地图创建算法[J]. 模式识别与人工智能, 2006, 19(5): 591-597. ZHOU GuangMing, CHEN ZongHai, LIU NianQing, JIA MengLei. Mapping Algorithm of Mobile Robot in Unknown Indoor Environment Based on Active Exploration. , 2006, 19(5): 591-597.

链接本文:

http://manu46.magtech.com.cn/Jweb_prai/CN/ 或 http://manu46.magtech.com.cn/Jweb_prai/CN/Y2006/V19/I5/591

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