基于kinect传感器的移动机器人局部不确定网格地图构建

2016 IEEE International Conference on Electronic Information and Communication Technology (ICEICT) Pub Date : 2016-08-01 DOI:10.1109/ICEICT.2016.7879711

Duan Yong, Shen Dongliang, Yu XiangYou, Wang Yu

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引用次数: 1

摘要

为了实现机器人安全高效的运动，提出了基于Kinect传感器的移动机器人局部不确定网格地图的构建方法。机器人的工作环境分为三部分:自由区域、障碍区域和未知区域。Kinect传感器用于检测每个区域并确定障碍物的置信度。最后，构建机器人环境的局部网格图。以轮式移动机器人为实验平台，验证了所提算法的可行性。

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Local uncertainty grid map construction of mobile robot based on kinect sensor

In order to realize the safe and efficient movement of the robot, the method of constructing the grid map with local uncertainty of a mobile robot based on Kinect sensor is proposed. The robot's working environment is divided into three parts: the free area, the obstacle area and the unknown area. Kinect sensor is used to detect each area and determine the confidence level of the obstacles. Finally, the local grid map of the robot environment is constructed. Taking the wheeled mobile robot as the experimental platform, the possibility of the proposed algorithm is verified.

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来源期刊

2016 IEEE International Conference on Electronic Information and Communication Technology (ICEICT)

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