大规模环境下的拓扑地图创建与导航

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石朝侠, 洪炳镕, 周彤, 王燕清. 大规模环境下的拓扑地图创建与导航[J]. 机器人, 2007, 29(5): 433-438.. SHI Chao-xia, HONG Bing-rong, ZHOU Tong, WANG Yan-qing. Topological Map Building and Navigation in Large-scale Environments. ROBOT, 2007, 29(5): 433-438..

摘要提出了一种新型拓扑地图；该地图用激光的扇区特征和视觉的比例不变特征来联合表示节点．与传统地图相比，该地图在创建过程中不依赖任何人工路标和机器人的全局定位．机器人通过综合考虑单个节点的相似度和不同节点间的空间关系，利用隐马尔可夫模型来提高节点的识别率．实验表明，该地图不仅易于创建和维护，而且适用于机器人在大规模室内环境下的自主导航．

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	石朝侠
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关键词 ：地图创建, 自主导航, 拓扑地图, 比例不变特征, 隐马尔可夫模型

Abstract：A novel topological map is proposed in this paper,and its nodes are represented with the visual scale-invariant features and the beam features of the laser range finder.Compared with traditional map presentations,this method doesn't need the robot global localization nor the artificial landmarks to build the map.Both the similarity of single node and the spatial relationship between individual nodes are taken into consideration,and the Hidden Markov Model(HMM) is used to improve the node recognition rate.The navigation experiments demonstrate that the topological map is not only easy to build and maintain,but also suitable for autonomous navigation in large-scale indoor environment without any landmarks.

Key words： map building autonomous navigation topological map scale-invariant feature HMM(Hidden Markov Model)

收稿日期: 2006-11-28

TP24

基金资助:国家863计划资助项目（2006AA04Z259）；国家自然科学基金资助项目（60643005）

作者简介: 石朝侠（1975- ），男，博士生．研究领域：多机器人协作探索，自主导航等．
洪炳镕（1937- ），男，教授，博士生导师．研究领域：智能控制，虚拟现实，机器人足球等．
周彤（1968- ），男，博士生．研究领域：移动感知网，智能控制等．

链接本文:

https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2007/V29/I5/433

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