钱晓明,张浩,王晓勇,武星.基于激光扫描匹配的移动机器人相对定位技术研究[J].农业机械学报,2016,47(3):14-21.
Qian Xiaoming,Zhang Hao,Wang Xiaoyong,Wu Xing.Relative Localization Technology for Mobile Robot Based on Laser Scan Matching[J].Transactions of the Chinese Society for Agricultural Machinery,2016,47(3):14-21.
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基于激光扫描匹配的移动机器人相对定位技术研究   [下载全文]
Relative Localization Technology for Mobile Robot Based on Laser Scan Matching   [Download Pdf][in English]
投稿时间:2015-09-12  
DOI:10.6041/j.issn.1000-1298.2016.03.003
中文关键词:  移动机器人  相对定位  激光导航  扫描匹配
基金项目:国家自然科学基金项目(61105114)、江苏省产学研合作前瞻性联合研究项目(BY2015003-11)和中央高校基本科研业务费专项资金项目(NS2014052)
作者单位
钱晓明 南京航空航天大学 
张浩 南京航空航天大学 
王晓勇 南京工业职业技术学院 
武星 南京航空航天大学 
中文摘要:移动机器人定位问题是机器人导航和控制领域的一个关键性问题,直接影响位置精度。本文利用激光扫描匹配,基于Fourier 变换的位移理论和相似变换下的Fourier-Mellin 不变量,提出了一种室内移动机器人相对定位方法。该方法属于点-点对应式匹配方法,可实现移动机器人连续状态下的复杂环境信息匹配。获取机器人连续不同时刻下的环境信息,将前一状态时刻作为参考扫描,后一状态时刻作为当前扫描,建立相关定位参数数学模型;在算法上采取降维处理,连续使用3次1D Fourier-Mellin 得到所需要的相对定位参数,即旋转和平移增量;与一种基于提取角点特征的特征-特征式匹配方法进行了对比性实验,证明了所提方法在定位精度和计算复杂度上的优越性,以及对复杂环境的适应性。
Qian Xiaoming  Zhang Hao  Wang Xiaoyong  Wu Xing
Nanjing University of Aeronautics and Astronautics,Nanjing University of Aeronautics and Astronautics,Nanjing Institute of Industry Technology and Nanjing University of Aeronautics and Astronautics
Key Words:mobile robot  relative localization  laser navigation  scan matching
Abstract:Localization is a key problem of mobile robot in the field for robot navigation and control, which directly affects the accuracy. A new relative localization method of point point scan matching for the mobile robot was proposed based on laser range finder to achieve the matching of complex environment information under the continuous state by using the displacement theory of Fourier transform and Fourier-Mellin invariant of similarity transformation. This method is inspired by the image matching and curve matching domain, which is based on Fourier-Mellin transform method. Firstly, environmental information was obtained in different continuous time of the robot; the previous state was set as a reference scan and the latter state was set as the current scan. The mathematical model of relative positioning parameter was established. Then, the dimension was reduced. The 1D Fourier-Mellin was used three times continuously to get the rotational and translational increment. Thirdly, the comparative experiment was carried out with a feature feature method based on the extracted corner features. Finally, the mobile robot path line was surveyed under an indoor environment and the laser data were collected for simulating track circuit diagram which were compared with the real conditions of track circuit. The experimental results further demonstrated the effectiveness, superiority and adaptability of the proposed method. It is no need to extract features from environment and it also has high anti noise and low computational lost. 

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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