引用本文:李秀智,龚月,张祥银,等.一种室内移动机器人自主探索方法[J].控制与决策,2019,34(6):1227-1233
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一种室内移动机器人自主探索方法
李秀智,龚月,张祥银,贾松敏,梁兴楠
(1. 北京工业大学信息学部,北京100124)
摘要:
研究室内未知环境下的移动机器人自主探索问题,并提出改进策略.首先,提出一种基于可通行区域的探索目标点快速提取方法,以补充原有方法在特殊环境结构下出现的提取探索目标点失败的缺陷;然后,提出一种基于激光数据和栅格地图信息的实时拓扑地图构建与优化方法,使得探索地图更加精简,探索过程更加高效;最后,通过改进的避障模块实现机器人的运动控制,以到达机器人安全探索的目标.同时,该系统采取机器人操作系统(Robot operating system, ROS)下的分布式结构,将整体算法合理分配到客户端和服务器,降低系统实现的硬件要求.现场实验表明,所提出方法具有良好的自主导航性能,在较复杂的室内未知环境下,仍能保持良好的地图构建能力和避障能力.
关键词:  自主探索  拓扑地图优化  目标点提取  避障  机器人操作系统分布式结构  移动机器人
DOI:10.13195/j.kzyjc.2017.1358
分类号:TP242;TH72
基金项目:北京市教育委员会科技计划面上项目(KM201510005005);北京工业大学智能制造领域大科研推进计划项目(040000546317552);北京工业大学日新人才计划支持项目(2015-RX-L03).
An autonomous exploration method for an indoor mobile robot
LI Xiu-zhi,GONG Yue,ZHANG Xiang-yin,JIA Song-min,LIANG Xing-nan
(1. Faculty of Information Technology,Beijing University of Technology,Beijing 100124,China)
Abstract:
This paper mainly studies the problem of autonomous exploration of mobile robots under indoor unknown environment, and proposes an improved strategy. Firstly, a method is proposed to extract the target point based on the accessible area to supplement the defects of the original method in the special environment structure. Then, a real-time topology map construction and optimization method based on laser data and grid map information is proposed, which makes the exploration map more streamlined and the exploration process is more efficient. Finally, the improved obstacle avoidance module is used to achieve the robot's motion control and reach the goal safetly. At the same time, the system adopts the distributed structure under robot operating system(ROS), allocates the whole algorithm to the client and the server reasonably, and reduces the hardware requirement of the system. Field experiments show that the proposed method has good performance, and offers advantages with respect to map building and obstacle avoidance in complex and unknown indoor environment.
Key words:  autonomous exploration  topologic map optimization  extraction of targets  obstacle avoidance  ROS distributed structure  mobile robot

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