Research on Maps Building for Mobile Robot Based on Least Squares Algorithm Using Laser Scanner

摘要：

　　In this paper,the laser sensor is using to detect environmental information.The problems of maps building of mobile robot are researched in the indoor structured environment.Least squares algorithm is adopted to build local maps,and a method of dynamic partition are presented based on the distance of adjacent points and angle.For accomplishing the self-localization and route planning of the mobile robot in the indoor environment lacking of the prior map,this paper present the method of the global map building based on the match of the feature points and the characteristic line.The experiments show the methods presented are effective and practicable.

关键词： Mobile robot maps building indoor environment least squares algorithm

作者: Guo Tongying Liu Wei Du Zhenjun Guo Tongyan Wang haichen

作者单位: Shenyang Jianzhu University,Shenyang,110168,China SIASUN Robot & Automation Co.,Ltd,Shenyang,110168,China Shenyang Daneng Electrical Technology Co.,Ltd,110015,China

会议类型: 国内会议

会议名称: 2013先进智能制造技术发展研讨会

会议地点: 北京

会议语种:英文

页码: 1-8

在线出版日期: 2013-06-26（万方平台首次上网日期，不代表论文的发表时间）