移动机器人的障碍物群检测方法

利用激光和超声波传感器在用栅格表示法形成地图的基础上 ,提出了进行数据融合以提取环境特征的新方法 :识别障碍物群。该方法能够在密集障碍物环境中为机器人的路径规划和避障提供准确的环境特征信息 ,提高机器人系统的自主性和实时性。实验结果表明了该方法的有效性。

A new data fusion method called obstacle group identification was proposed. This method is based on grid map created by using laser and ultrasonic sensors. It will improve autonomy and real  time ability of systems by providing environment feature  information for robot to make path planning and obstacle avoidance. Experimental results demonstrate the power of the method

国家 8 63高技术计划智能机器人主题资助项目 (863 -5 12 -982 0 -0 6)