[1]李润伟,蔡自兴,童宇,等.基于ATM的提高狭窄环境探测精度的改进方法[J].智能系统学报,2008,3(4):283-287.
LI Run-wei,CAI Zi-xing,TONG Yu.Improving the accuracy of exploring the narrow environment by using ATM[J].CAAI Transactions on Intelligent Systems,2008,3(4):283-287.
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LI Run-wei,CAI Zi-xing,TONG Yu.Improving the accuracy of exploring the narrow environment by using ATM[J].CAAI Transactions on Intelligent Systems,2008,3(4):283-287.
基于ATM的提高狭窄环境探测精度的改进方法
《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷:
3
期数:
2008年第4期
页码:
283-287
栏目:
学术论文—人工智能基础
出版日期:
2008-08-25
- Title:
- Improving the accuracy of exploring the narrow environment by using ATM
- 文章编号:
- 1673-4785（2008）04-0283-05
- Keywords:
- mobile robot; sonar; map building; tangent; intersection
- 分类号:
- TP24
- 文献标志码:
- A
- 摘要:
- 基于ATM的思想为移动机器人探测狭窄环境提出了一种改进方法,使得在地图创建的精度上有一定的提升.虽然声呐传感器探测目标体的距离有较高的准确度,但声呐对目标的方位判断却存在一定的误差,借鉴了ATM的思想,所采用的声呐模型为均匀分布模型,设定了切线的角度变化范围并引入了权值,对目标的方位进行了误差修正,并且在MORCS-2机器人平台上进行了实时地图创建实验,验证了这种方法有着较好的精确性与可行性.
- Abstract:
- A method is p roposed for imp roving the accuracy ofmapp ing data generated bymobile robots by using the arc2transversalmedian (ATM) algorithm. Although sonar sensors can accurately determine the distance between objects and the robot, they can’t p recisely estimate the azimuth of the object. We used the uniform distribution mod2 el as our sonarmodel, in which the range of change of angle formed by two tangents was p rescribed, and weights were app lied. Finally, errorswere adjusted. Experimentswith real2time map buildingwere made on theMORCS22 robot p latform. They showed exciting and p romising results, and verified the accuracy and feasibility of the p ro2 posed method.
- 参考文献/References:
-
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[2] 蔡自兴,贺汉根,陈虹. 未知环境中移动机器人导航控制研究的若干问题[J]控制与决策, 2002,(04) .
[3] 高丽华,房芳,马旭东. 一种基于声纳信息的移动机器人地图创建方法[J]制造业自动化, 2006,(11) .
[4] 刘年庆,周光明,陈宗海. 一种基于多超声波信息精确建立环境模型的新方法[J]机器人, 2005,(03) .
?[5] 王卫华,陈卫东,席裕庚. 移动机器人地图创建中的不确定传感信息处理[J]自动化学报, 2003,(02) .
[6] Chong K S, Kleeman L. Mobile-robot map building from an advanced sonar array and accurate odometry .International Journal of Robotics Research. 1999,181, 18(1) :20-36 .
[7] Choset H, Nagatani K, Lazar N A. The arc-transversal median algorithm: a geometric approach to increasing ultrasonic sensor azimuth accuracy .IEEE Transactions on Robotics and Automation. 2003,193, 19(3) :519-522 .
[8] LEONARD J J,MORAN B A,COX I J. Underwater sonardata fusion using an ecient multiple hypothesis algorithm[C] .IEEE Int Conf on Robotics and Automation. 1995, :2995-3002 .
?[9] BURGARD W,CREMERS A B,FOX D. Experiences withan interactive museum tour-guide robot[J] .Artificial Intel-ligence, 1999,114, 114 (1-2) :3-55 .
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备注/Memo
收稿日期：2007-11-11
基金项目：国家基础研究基金资助项目(A1420060159);; 国家自然科学基金重点资助项目(60234030)
作者简介：
李润伟，男，1979年生，硕士研究生，主要研究方向为人工智能，移动机器人导航，移动机器人地图创建?? E-mail:lirunwei22@sian.com
蔡自兴，男，1938年生，教授，博士生导师，纽约科学院院士，主要研究方向为人工智能，机器人学，智能控制等，1985年，在国际上首创机器人规划专家系统，1986年在国际上首次提出智能控制的四元交集理论，1989年，提出智能控制科学体系的初步框架，获科教奖励30余项，其中国家级奖励2项，省部级奖励20余项，发表学术论文500余篇，出版专著和教材26部
童宇，女，1980年生，讲师，主要研究方向为人工智能，移动机器人导航，数字图像处理，发表学术论文3篇
更新日期/Last Update:
2009-05-17