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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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

Received: 21 June 2005

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	Articles by authors
	ZHOU GuangMing
	CHEN ZongHai
	LIU NianQing
	JIA MengLei

Cite this article:

ZHOU GuangMing,CHEN ZongHai,LIU NianQing等. Mapping Algorithm of Mobile Robot in Unknown Indoor Environment Based on Active Exploration[J]. , 2006, 19(5): 591-597.

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http://manu46.magtech.com.cn/Jweb_prai/EN/ OR http://manu46.magtech.com.cn/Jweb_prai/EN/Y2006/V19/I5/591

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