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Alternative TitleRobust elevation bound based environment mapping of ground robot
杜文强1,2,3; 谷丰1,2; 孟祥冬1,2,3; 周浩1,2; 狄春雷1,2; 杨丽英1,2; 何玉庆1,2,4
Source Publication高技术通讯
Contribution Rank1
Funding Organization国家自然科学基金( 91748130) ; 国家重点研发计划( 2018YFC0810100) ; 青促会和中科院联合基金( 6141A01061601) ; 广东省科技计划( 2017B010116002)
Keyword环境建模 有界噪声 扩展集员滤波 边界分析


Other Abstract

Accurate and reliable environment model is a key issue for mobile robots. However,in the field environment, due to the vibrations and sensor errors, the elevation of the 2. 5D map is always deviated. Focused on this problem, a robust elevation bound based environment modeling method is proposed in this work. In the first,the laser measurement model is researched and built. Based on the model, the bound description of measurement error is analyzed for describing the area of the measurement error. In the second, the estimation of elevation bound is realized by the extended set-member filter,which shows the elevation bound of the 2.5D map built by the mobile robots. Then the traversability of mobile robots is analyzed based on the elevation bound. In the last,the feasibility and effectiveness of the proposed method are verified by experiments. Compared with the common EKF based environment modeling methods,the robustness and reliability of the environmental map can be improved due to the reliability elevation bound.

Document Type期刊论文
Corresponding Author谷丰
Recommended Citation
GB/T 7714
杜文强,谷丰,孟祥冬,等. 基于鲁棒高程边界的地面机器人环境建模方法[J]. 高技术通讯,2019,29(10):985-994.
APA 杜文强.,谷丰.,孟祥冬.,周浩.,狄春雷.,...&何玉庆.(2019).基于鲁棒高程边界的地面机器人环境建模方法.高技术通讯,29(10),985-994.
MLA 杜文强,et al."基于鲁棒高程边界的地面机器人环境建模方法".高技术通讯 29.10(2019):985-994.
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