Map Building Based on Clustering Method for Mobile Robots

摘要：

A new laser scan matching method based on clustering is advanced. It takes the advantages of both non-iterative matching method and iterative matching method as well as increases the speed and the precision of matching. A method of map building based on laser scans using the matching method above is presented for mobile robots. The map building method matches two consecutive scans by using the feature points extracted from the scans and then completes the whole map building. In the experiment using the rescue robot developed in our lab, it shows that the new method can accomplish the task of real-time map building in an indoor environment accurately and effectively.

作者: Hui Zhang Ying Qu Dan Hai Yong Li Dachuan Wang

作者单位: College of Mechanical Engineering and Automation,National University of Defense Technology,Changsha, mailbox of NO.5117,Beijing,100094,China

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 303-307

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）