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ID:10267324
大小:3.96 MB
页数:63页
时间:2018-06-14
《基于激光数据的移动机器人地图创建问题研究》由会员上传分享,免费在线阅读,更多相关内容在教育资源-天天文库。
1、国防科学技术大学硕士学位论文基于激光数据的移动机器人地图创建问题研究姓名:蔡向东申请学位级别:硕士专业:控制科学与工程指导教师:张辉2010-11䰆⾥ᄺᡔᴃᄺⷨお⫳䰶⸩ᄺԡ䆎᭛ᨬ㽕ᴀ᭛Џ㽕ⷨおњᅸݙ⦃๗ϟ⿏ࡼᴎ఼ҎѢ▔ܝᠿᦣ᭄ⱘഄ߯ᓎ䯂乬DŽ⿏ࡼᴎ఼Ҏ߽⫼▔ܝ⌟䎱Ҿᇍᅸݙ⦃๗䖯㸠ᠿᦣˈ㦋প▔ܝᠿᦣ᭄⚍䲚DŽഄ߯ᓎ䖛ߚЎᇍ▔ܝᠿᦣ᭄⚍䲚䖯㸠乘໘⧚▔ܝ᭄⚍䲚ऍ䜡ϸℹ偸ˈ䗮䖛ᕾ⦃ᠻ㸠ˈᅠ៤ഄⱘ߯ᓎDŽ佪ܜˈ䩜ᇍ▔ܝ᭄⚍䲚乘໘⧚䖛ЁᇍѢ㊒ᑺᅲᯊᗻⱘ㽕∖ˈᴀ᭛䞛⫼Ѣ᭄⚍䯈ⱘᓣ䎱⾏䖯㸠ऎඳߚࡆˈ䞛⫼ࡼᗕ䯜ؐⱘLine-Tra
2、ckingⳈ㒓ᦤপㅫ⊩䖯㸠Ⳉ㒓ᦤপˈޣᇣњాໄᇍⳈ㒓ᦤপⱘᕅડˈ䙓ܡњᅮ䯜ؐ䗝পϡᔧ㗠䗴៤ⱘⳈ㒓ᦤপ㊒ᑺ䕗ᏂⳈ㒓ᦤপϡᅠᭈⱘᚙމDŽ݊ˈ䩜ᇍ䗁ҷㅫ⊩Ёᄬⱘ䅵ㅫ䞣䖛ˈऍ䜡ᬜ⥛Ԣϟⱘ䯂乬ˈᴀ᭛ᇚ▔ܝ᭄⚍䲚ⱘऍ䜡ߚЎ㉫ऍ䜡ǃ㊒ऍ䜡ϸϾ䰊↉DŽ㉫ऍ䜡䰊↉㊒ऍ䜡䰊↉ߚ߿䞛⫼⚍-⚍䴲䗁ҷऍ䜡ㅫ⊩ICP㊒ऍ䜡ㅫ⊩ˈᑊϨᇍⳌᑨⱘㅫ⊩䖯㸠њᬍ䖯DŽ㒧ড়ϸ⾡ㅫ⊩ᅠ៤ᇍ▔ܝ᭄⚍䲚ⱘऍ䜡ˈᦤ催њㅫ⊩ⱘৃᗻऍ䜡䗳ᑺDŽ㉫ऍ䜡䰊↉ˈ䞛⫼ᬍ䖯ⱘ䴲䗁ҷ⚍-⚍ऍ䜡ㅫ⊩ˈ߽⫼ᦤপߎⱘ㒓↉ッ⚍Ўᇍᑨ⚍ᇍ䖯㸠ऍ䜡ˈ䆕ऍ䜡㊒ᑺⱘࠡᦤϟˈ᳝ᬜഄᦤ催њऍ䜡ⱘ䗳ᑺDŽ㊒ऍ䜡䰊↉ˈ
3、䞛⫼ᬍ䖯ⱘICPㅫ⊩DŽ佪ܜˈḍ㉫ऍ䜡∖ߎⱘবᤶখ᭄∖পϸᐙ᭄⚍䲚ⱘ݀݅ऎඳˈޣᇥњᇍᑨ⚍᧰㋶ⱘⳆⳂᗻˈᦤ催њᇍᑨ⚍ⱘ᧰㋶䗳ᑺDŽ݊ˈᇍICPㅫ⊩䖯㸠њᬍ䖯ˈܜᇍᦤপߎⱘⳈ㒓↉䖯㸠ऍ䜡ˈݡᇍᑨ㒓↉ᇍЁ᧰㋶ᇍᑨ⚍ᇍˈᦤ催њऍ䜡䗳ᑺˈ䗁ҷ∖পবᤶখ᭄䖛Ё䞛⫼ߚℹ䗁ҷⱘᮍ⊩ˈՓ䗁ҷ䖛᳝䕗催ⱘৃᗻ剕ẦᗻDŽ᳔ৢˈҟ㒡њNuBotᬥᧈᴎ఼ҎⱘᴎẄ㒧ᵘҹঞࠊ㋏㒳ˈḍᦤߎⱘѢ▔ܝᠿᦣ᭄ⱘഄ߯ᓎᮍ⊩ˈ߽⫼ᴀᅲ偠ᅸᓔথⱘ⿏ࡼᴎ఼Ҏᅸݙᷛޚᬥᧈ⦃๗Ё䖯㸠ഄⱘ߯ᓎˈᅲ偠㒧ᵰ㸼ᯢˈᴀ᭛ᦤߎⱘㅫ⊩㛑᳝ᬜഄᅠ៤⦃๗ЁѠ㓈ഄⱘ߯ᓎDŽ݇䬂䆡˖▔ܝ⌟䎱
4、Ҿ˗Line-Tracking˗ԩ⡍ᕕ˗ഄ߯ᓎ˗ߚℹ䗁ҷi义䰆⾥ᄺᡔᴃᄺⷨお⫳䰶⸩ᄺԡ䆎᭛ABSTRACTTheproblemofthemapbuildingbasedonlaserscanningdataismainlyresearchedinthispaper.Byusinglaserrangefindertoscantheindoorenvironment,mobilerobotobtainthelaserscanningdata,wedividedmapbuildingintotwoparts:thepretreatmentof
5、thelaserscanningdatapointsetandtheregistrationofthelaserscanningdatapointset.First,theprocessofthepretreatmentofhelaserscanningdata,fortherequirementofprecisionandrealtime.WeusetheEuclideandistancebetweendatapointsforthesegmentation,useLine-Trackingwithdynamicthresholdforlinee
6、xtraction,whicheffectivelyreducestheimpactofthenoiseonthelineextractionandavoidcausingpooraccuracyoflineextractionandpoorintegrityofthelinefromtheimproperselectionoffixedthreshold.Second,fortheproblemofexcessivecalculationandthelowefficiencyofmatching.Addresstheseissues,themat
7、chingstepisdividedtwoparts:preparativematchingstepandprecisematchingstep.Inthepreparativematchingstep,weusethepoint-pointiterativematchingalgorithm.Inprecisematchingstep,weusetheICPiterativematchingalgorithm,andmakecorrespondingimprovement.Inthepreparativematchingstep,weusethe
8、improvedpoint-pointiterativematchingalgorithmtoimprovethespee
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