Simultaneous Localization and Mapping Based on the Hybrid Metric-Topological Map in the Ruins Environment
Simultaneous Localization and Mapping Based on the Hybrid Metric-Topological Map in the Ruins Environment
复制标题
DOI：
10.3724/sp.j.1218.2013.00762
复制
发表时间：
2013
期刊：
影响因子：
--
通讯作者：
Nan Wang;Shugen Ma;Bin Li;Minghui Wang;Min Zhao
中科院分区：
文献类型：
--
作者：
Nan Wang;Shugen Ma;Bin Li;Minghui Wang;Min Zhao
提出了一种遗址环境的地图表达方法，并给出了一种有效的地图构建机制。基于度量-拓扑混合地图表达，根据地震灾害后废墟环境内部的形态特征，对废墟环境进行不同层次的描述。在全局拓扑图的基础上对整个环境进行描述，保证系统的计算能力、环境适应性和友好的交互性，同时在每个拓扑节点区域建立局部度量图，清晰地表示由破坏模式形成的不规则障碍物。在人工废墟环境中的实验表明，该方法能够实现复杂环境下的同时定位和地图绘制，表明了该算法在实际搜救领域的可行性和有效性。
A map representation method with an effective map building mechanism for representation of ruins environments is presented. Based on the hybrid metric-topological map representation, the ruins environment is described at different levels, according to the morphological characteristics in the interior of ruins environments after a seismic disaster. The whole environment is described on the basis of the global topological map, to ensure the system computing capability, ambient adaptability and friendly interaction, while building a local metric map at each topological node region, to represent clearly the irregular obstacle formed by a destructive pattern. The experiments in an artificial ruins environment demonstrate that the method can realize the simultaneous localization and mapping in complex environment, which indicates the feasibility and validity of the algorithm in practical search and rescue fields.