LRF-based data processing algorithm for map building of mobile robot
LRF-based data processing algorithm for map building of mobile robot
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基于LRF的移动机器人建图数据处理算法
DOI：
10.1109/icinfa.2010.5512015
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发表时间：
2010
期刊：
影响因子：
--
通讯作者：
W. Fu
中科院分区：
文献类型：
--
作者：
S. Jia;Hao Yang;Xiuzhi Li;W. Fu
众所周知，在移动的机器人地图构建中，环境数据的处理至关重要。针对室内服务移动的机器人，提出了两种基于LRF的地图构建算法。然后通过模型和实验对比，找出它们的优缺点和适用范围，以便在实践中有效利用。室内环境实验证明，该算法可以满足不同复杂度环境下地图构建的需求。因此，我们可以针对移动的机器人所处的不同实际环境选择合适的地图构建算法。本文还介绍了该系统的结构，并给出了一些实验结果。
As we all know that, it is vital to process environment data in map building of mobile robot. This paper presented two algorithms of map building using LRF for an indoor service mobile robot. Then we find their advantages and disadvantages, and the scope of application by comparing them in model and experiment in order to utilize effectively in practice. Experiments in indoor environment prove that the algorithms can meet the demand of map building in environment with different complexity. Hence, we can select appropriate map building algorithm for different practical environment where mobile robot moves. This paper also introduces the architecture of the proposed system and gives some experimental results.