| 基于激光雷达的移动机器人实时位姿估计算法 |
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| 引用本文： | 畅春华,赵汗青,秦博. 基于激光雷达的移动机器人实时位姿估计算法[J]. 装甲兵工程学院学报, 2011, 25(4): 54-57 |
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| 作者姓名： | 畅春华 赵汗青 秦博 |
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| 作者单位： | 装甲兵工程学院控制工程系,北京,100072 |
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| 摘 要： | 提出一种基于二维激光雷达的移动机器人实时位姿估计算法。该算法首先将环境数据聚类为不同的障碍物，然后利用障碍物的特征匹配来关联相邻2帧的障碍物，最后通过优化位置序列间的方向角实现机器人的位姿估计。与ICP（迭代最近点）算法对比验证表明：该算法与ICP具有相同数量级的位姿估计精度，且明显提高了计算效率。
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| 关 键 词： | 位姿估计 移动机器人 聚类 障碍物关联 |
Real-time Pose Estimation by Using Laser Scans for Mobile Robot |
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| CHANG Chun-hua,ZHAO Han-qing,QIN Bo. Real-time Pose Estimation by Using Laser Scans for Mobile Robot[J]. Journal of Armored Force Engineering Institute, 2011, 25(4): 54-57 |
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| Authors: | CHANG Chun-hua ZHAO Han-qing QIN Bo |
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| Affiliation: | CHANG Chun-hua,ZHAO Han-qing,QIN Bo(Department of Control Engineering,Academy of Aromored Force Engineering,Beijing 100072,China) |
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| Abstract: | This paper describes a real-time pose estimation method using laser scans for mobile robot.Based on the character-matching of obstacles clustered from environment data,the position and posture of robot are estimated by optimizing the direction of the registered obstacles between the position sequences.The contrastive experiments with ICP method show that the new method can accomplish the task effectively and more efficiently. |
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| Keywords: | pose estimation mobile robot clustering obstacle registration |
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