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Laser range finder-based map establishing method of snake-like robot

A laser rangefinder and snake-like robot technology, applied in navigation computing tools, etc., can solve problems such as a large number of codes and consume a lot of energy, and achieve the effect of simple algorithm, reduced algorithm complexity, and easy control

Active Publication Date: 2014-12-24
BEIJING INFORMATION SCI & TECH UNIV +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The calculation and implementation of almost all SLAM algorithms so far require a lot of code, and it takes a lot of effort to understand and test their algorithms

Method used

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  • Laser range finder-based map establishing method of snake-like robot
  • Laser range finder-based map establishing method of snake-like robot
  • Laser range finder-based map establishing method of snake-like robot

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Embodiment Construction

[0031] The invention relates to a method for creating a map of a snake-shaped robot based on a laser rangefinder, which specifically includes the following steps:

[0032] (1) Environmental awareness. The laser rangefinder is used to sense the environment and obtain environmental information.

[0033] Turn on the laser rangefinder, and control the snake-like robot to move around in a clockwise direction figure 2 The dotted track in the circle moves around for environment perception. in, figure 2 Among them, 2-1 is the experiment table, 2-2 is the box on the ground, and 2-3 is the stool.

[0034] URG04-LX laser rangefinder has a range of 20mm to 4000mm, an accuracy of 5mm within 1 meter, and an accuracy of 1% of the distance measured outside 1 meter. The maximum scanning angle is 240 degrees, the angular resolution is 0.36 degrees, and the scanning period is 100ms. RS232 or USB communication . ①Its maximum measurement distance is limited to 4m. In a cluttered environment...

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Abstract

The invention discloses a laser range finder-based map establishing method of a snake-like robot. The laser range finder-based map establishing method comprises the following steps: starting the snake-like robot and a laser range finder, acquiring environmental information by the laser range finder along with motion of the snake-like robot, and preprocessing acquired laser data; initializing a map, and matching a current laser measured value with a current map; updating particle positions and weights of a robot particle set by using an Monte-Carlo algorithm, and calculating a probability center particle position of the robot particle set; updating the map by an improved Bresenham algorithm. The laser range finder-based map establishing method has the advantages as follows: the algorithms are simple and easy to understand; calculation is simple and high in accuracy; the laser range finder-based map establishing method is applicable to a fast-moving robot.

Description

technical field [0001] The invention belongs to the technical field of mobile robot map creation, in particular to a method for creating a map in an unknown environment based on a laser range finder. Background technique [0002] Mobile robots are usually able to locate and navigate based on environmental maps, so map creation is a basic problem in the study of mobile robots. The importance of SLAM problems in the field of intelligent mobile robots has received extensive attention, and many relatively mature theories and implementation methods have emerged. At present, there are many studies on SLAM problems. The common algorithms of SLAM include EKF-SLAM algorithm, FastSLAM algorithm, DP-SLAM algorithm and so on. [0003] The algorithm based on EKF-SLAM is very concise and efficient in the expression of uncertain information, it uses a multidimensional Gaussian model to describe the joint posterior distribution of robot pose and map, whose dimension is , is the numbe...

Claims

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Application Information

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IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 王超杰赵旭苏中连晓峰
Owner BEIJING INFORMATION SCI & TECH UNIV
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