高技术通讯2013，Vol.23Issue(7)：756-761,6.DOI:10.3772/j.issn.1002-0470.2013.07.014
基于混合环境模型的自主移动机器人环境探索研究
Research on autonomous robots' environment exploration based on hybrid environment model
摘要
Abstract
For exploring the interior unknown environment,by using an autonomous mobile robot this paper proposes a high-effect autonomous environment exploration algorithm based on a hybrid topological-metric map.The topological map based on environment Opening-Points is built in real-time according to current sensor information.The optimal instant target is selected as the exploration direction for the next step by analyzing and dealing with the OpeningPoints.In the framework of Rao-Blackwellized particle filter (RBPF),the grid map based Simultaneous Localization and Mapping (SLAM) is introduced into the autonomous exploration process of the mobile robot,which provides the accurate position estimate to improve the position accuracy of the topological node effectively and complete the exploration task smoothly.The exploration algorithm based on the above two strategies gives consideration to both accuracy and efficiency.The validity and practicability of the proposed exploration approach was validated by a lot of experiments on the mobile robot Pioneer3-DX.关键词
移动机器人/环境探索/通路点/Rao-Blackwellized粒子滤波(RBPF)/同步定位与地图创建(SLAM)Key words
mobile robot/environment exploration/ opening-points/ Rao-Blackwellized particle filter (RBPF)/ Simultaneous Localization and Mapping (SLAM)引用本文复制引用
贾松敏,沈红敏,李秀智,王可..基于混合环境模型的自主移动机器人环境探索研究[J].高技术通讯,2013,23(7):756-761,6.基金项目
国家自然科学基金(61175087,61105033),北京市自然科学基金(B类,KZ201110005004)和国家教育部留学回国人员科研启动基金(第40批)资助项目. （61175087,61105033）
