基于激光数据的移动机器人地图创建问题分析-analysis of mobile robot map creation problem based on laser data.docx

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2018-06-05 发布于上海
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基于激光数据的移动机器人地图创建问题分析-analysis of mobile robot map creation problem based on laser data.docx

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基于激光数据的移动机器人地图创建问题分析-analysis of mobile robot map creation problem based on laser data

???????お??????????????▔??????????? 乬????????▔????????????????▔?????????????????▔?????????乘???▔?????????? 偸????????????????佪????▔?????乘????Ё??有?????????????????????????????????????? Line-Tracking ???? ??????????????????????????????????? ???????有????????????????????????Ё?????????????????乬????▔ ??????????????有?????????????有?????? ???一????????? ICP 有???????????????????? ????????▔??????????催????????????????????????????一??????????????ッ??? ??????????????有??????????催???????有?????????? ICP ???佪???????????????? ??????????????????????????催???????? ?????? ICP ?????????????????????????????Ё????????催????????????????Ё?????? ????????????催?????剕????????? NuBot ????????????????????????▔?????????????????偠??????????????????Ё?????????偠?????????????????????Ё ????????????▔?????Line-Tracking???????????????ABSTRACTThe problem of the map building based on laser scanning data is mainly researched in this paper. By using laser range finder to scan the indoor environment, mobile robot obtain the laser scanning data, we divided map building into two parts: the pretreatment of the laser scanning data point set and the registration of the laser scanning data point set.First, the process of the pretreatment of he laser scanning data, for the requirement of precision and real time. We use the Euclidean distance between data points for the segmentation, use Line-Tracking with dynamic threshold for line extraction, which effectively reduces the impact of the noise on the line extraction and avoid causing poor accuracy of line extraction and poor integrity of the line from the improper selection of fixed threshold.Second, for the problem of excessive calculation and the low efficiency of matching. Address these issues, the matching step is divided two parts: preparative matching step and precise matching step. In the preparative matching step, we use the point-point iterative matching algorithm. In precise matching step, we use the ICP iterative matching algorithm, and make corresponding improvem