[1]曹卫华,吴净斌,吴 敏,等.无路标环境下遥操作机器人SLAM系统[J].智能系统学报,2010,5(03):240-246.
 CAO Wei-hua,WU Jing-bin,WU Min,et al.A system for telerobotics in environments without landmarks[J].CAAI Transactions on Intelligent Systems,2010,5(03):240-246.
点击复制

无路标环境下遥操作机器人SLAM系统(/HTML)
分享到:

《智能系统学报》[ISSN:1673-4785/CN:23-1538/TP]

卷:
第5卷
期数:
2010年03期
页码:
240-246
栏目:
学术论文—智能系统
出版日期:
2010-06-25

文章信息/Info

Title:
A system for telerobotics in environments without landmarks
文章编号:
1673-4785(2010)03-0240-07
作者:
曹卫华吴净斌吴 敏陈 鑫
中南大学 信息科学与工程学院,湖南 长沙 410083
Author(s):
CAO Wei-hua WU Jing-bin WU Min CHEN Xin
School of Information Science and Engineering, Central South University, Changsha 410083, China
关键词:
无线网络实时定位路径规划地图绘制遥操作机器人SLAM系统
Keywords:
wireless network realtime localization path planning map building telerobotics SLAM system
分类号:
TP242.6
文献标志码:
A
摘要:
为了提高遥操作机器人的实用性和高效性,设计与开发了一种基于无线网络的无路标未知环境下探索移动机器人系统,其包括移动机器人子系统和机器人远程状态监视子系统.根据机器人功能需求,提出一种多控制器协作及多传感器信息融合的移动机器人硬件结构.利用机器人实时定位和激光测距扫描的能力,提出了一种改进的VFH算法,进行机器人自主局部路径规划.机器人远程状态监视子系统通过无线网络设定机器人的目标点,实时监视机器人状态,并绘制机器人所探索的环境地图.实验表明,开发的探索移动机器人系统具备了在未知环境探索的能力.
Abstract:
To improve the practicality and efficiency of telerobotics, the authors developed a mobile robot system which uses a wireless network. This allows robots to explore environments without known landmarks. The system consists of two subsystems, the mobile robot itself and the remote state monitoring system. Based on the functional requirements, a hardware structure was proposed with multicontroller cooperation and mulitisensor information fusion. An improved vector field histogram (VFH) algorithm was presented. This gave the robot the ablility to do realtime location and laser ranging. The remote state monitoring subsystem served as an interface, giving target data to the robot via the wireless network. It also monitored the state of the robot in realtime, building up a map of the remote enviroment explored by the robot. Experimental results showed that this system performs well when exploring unknown environments.

参考文献/References:

[1]GOLDBERG K, MASCHA M, GENTNER S, et al. Desktop teleoperation via the world wide web[C]//Proceedings of the 1995 IEEE International Conference on Robotics and Automation. Nagoya, Japan: 1995: 654659.
[2]LEONARD J, DURRANTWHYTE H. Simultaneous map building and localization for an autonomous mobile robot[C]//Proceedings of the IEEE International Workshop on Intelligent Robots and Systems. Osaka, Japan: 1991: 14421447.
[3]DURRANTWHYTE H, BAILEY T. Simultaneous localization and mapping (SLAM): part I the essential algorithms[J]. Robotics and Automation Magazine, 2006, 13(2): 99110.
[4]SMITH R, SELF M, CHESSEMAN P. Estimating uncertain spatial relationships in robotics[C]//Proceedings of the IEEE International Conference on Robotics and Automation. Piscataway, USA: IEEE, 1987: 850.
[5]SMITH R, CHEESEMAN P. On the representation and estimation of spatial uncertainty[J]. The International Journal of Robotics Research, 1986, 5(4): 5668.
[6]CSORBA M. Simultaneous localization and map building[D]. Oxford: University of Oxford, 1997.
[7]DISSANAYAKE M W M G, NEWMAN P, CLARK S, et al. A solution to the simultaneous localization and map building (SLAM) problem[J]. IEEE Transactions on Robotics and Automation, 2001, 17 (3): 229241.
[8]CASTELLANOS J A, TARDOS J D. Mobile robot localization and map building: a multisensor fusion approach[J]. Automatica, 2003, 39(6): 11201121.
[9]THRUN S, BURGARD W, FOX D. A probabilistic approach to concurrent mapping and localization for mobile robots[J]. Machine Learning, 1998, 31(1/3): 2953.
[10]DEMPSTER A, LAIRD A, RUBIN D. Maximum likelihood from incomplete data via the EM algorithm[J]. Journal of the Royal Statistical Society: Series B (Methodological), 1997, 39(1): 138.
[11]BURGARD W, FOX D, JANS H, et al. Sonarbased mapping of largescale mobile robot environments using EM[C]//Proceedings of the 16th International Conference on Machine Learning. Bled, Slovenia: Morgan Kaufmann, 1999: 6776.
[12]THRUN S, BURGARD W, FOX D. A realtime algorithm for mobile robot mapping with application to multirobot and 3D mapping[C]//Proceedings of IEEE International Conference on Robotics and Automation. San Francisco, USA: IEEE, 2000: 321328.
[13]THRUN S, BEETZ M, BURGARD W, et al. Probabilistic algorithms and the interactive museum tourguided robot Minerva[J]. Journal of Robotics Research, 2000, 19(11): 9721000. 
[14]HANHEL D, SCHULZ D, BURGARD W. Mapping building with mobile robots in populated environments[C]//Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems. Lausanne, Switzerland: IEEE, 2002: 496501.
[15]MONTEMERLO M, THRUN S, KOLLER D, et al. FastSLAM: a factored solution to the simultaneous location and mapping problem[C]//Proceedings of the AAAI National Conference on Artificial Intelligence. Edmonton, Canada: AAAI, 2002: 593598.
[16]MONTEMERLO M, THRUN S, KOLLER D, et al. FastSLAM 2.0: an improved particle filtering algorithm for simultaneous localization and mapping that provably converges[C]//Proceedings of the International Conference on Artificial Intelligence. Acapulco, Mexico: AAAI, 2003: 11511156.
[17]ARRAS K O, TOMATIS N, JENSEN B T, et al. Multisensor onthefly localization: precision and reliability for applications[J]. Robotics and Autonomous System, 2001, 34(2/3): 131143.
[18]JENSFELT P, KRISTENSEN S. Active global localization for a mobile robot using multiple hypothesis tracking[J]. IEEE Transactions on Robotics and Automation, 2001, 17(5): 748760.
[19]BORGES G A, ALDON M J. A splitandmerge segmentation algorithm for line extraction in 2D range images[C]//Proceedings of International Conference on Pattern Recognition. Barcelona, Spain: IEEE, 2000: 441444.
[20]JENSFELT P, CHRISTENSEN H. Laser based position acquisition and tracking in an indoor environment[C]//Proceedings of the International Symposium on Robotics and Automation. Saltillo, Coahuila, Mexico: IEEE, 1998: 331338.
[21]ULRICH I, BORENSTEIN J. VFH+: reliable obstacle avoidance for fast mobile robots[C]//Proceedings of the 1998 IEEE International Conference on Robotics and Automation. Leuven, Belgium: IEEE, 1998: 15721577.

备注/Memo

备注/Memo:
收稿日期:2009-04-18.
基金项目:国家自然科学基金资助项目(60874042).
通信作者:吴净斌. E-mail: wjbwsb@gmail.com.
作者简介:
曹卫华,男,1972年生,教授、博士.主要研究方向为机器人技术、多智能体系统和生产过程智能控制.获省部级科技进步二等奖2项、三等奖1项,科技成果鉴定4项,发表学术论文20余篇.
吴净斌,男,1983年生,硕士研究生,主要研究方向为机器人技术、嵌入式系统和多智能体系统.
吴 敏,男,1963生,教授、博士生导师、博士,教育部“长江学者”特聘教授,国家杰出青年科学基金获得者.主要研究方向为过程控制、鲁棒控制和智能系统.获国家科技进步二等奖1项,省部级科技一等奖1项、二等奖4项、三等奖4项.发表学术论文257篇,出版专著3部、教材1部、译著2部.
更新日期/Last Update: 2010-07-14