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首先给出了一种通过融合多个超声波传感器和一台激光全局定位系统的数据建立机器人环境地图的方法 ,并在此基础上 ,首次提出了机器人在非结构环境下识别障碍物的一种新方法 ,即基于障碍物群的方法 .该方法的最大特点在于它可以更加简洁、有效地提取和描述机器人的环境特征 ,这对于较好地实现机器人的导航、避障 ,提高系统的自主性和实时性是至关重要的 .大量的实验结果表明了该方法的有效性 .
Firstly, a method of establishing a robot environment map by integrating data from multiple ultrasonic sensors and a laser global positioning system is given. Based on this, a new method of robot identification in the non-structural environment is proposed for the first time Method, that is based on the obstacle group method.The most prominent feature of this method is that it can extract and describe the robot’s environmental features more succinctly and effectively, which is more effective for robot’s navigation, obstacle avoidance and system autonomy Real-time is crucial, and a large number of experimental results show the effectiveness of the method.