一种用于未知环境探索的可动态配置路标系统

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引用本文:
孙凤池, 苑晶, 黄亚楼, 刘光. 一种用于未知环境探索的可动态配置路标系统[J]. 机器人, 2010, 32(1): 77-82.. SUN Fengchi, YUAN Jing, HUANG Yalou, LIU Guang. A Dynamically Configurable Landmark System for Unknown Environment Exploration. ROBOT, 2010, 32(1): 77-82..

摘要研究了移动机器人探索未知环境所面临的定位问题．针对在某些未知环境中难以可靠提取自然路标、并且存在数据关联难题的实际情况，提出了一种可以根据定位需要进行动态配置的路标系统，设计并实现了可以动态配置的路标、路标投放装置、路标探测装置，能够在探索未知环境的过程中动态在线配置路标以辅助完成机器人定位与对环境的探索．可动态配置路标具有成本低、体积小、能耗低的特点，便于携带与动态配置，实验结果证明了这种路标系统在未知环境探索中的有效性．

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	孙凤池
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关键词 ：移动机器人, 路标, 动态配置, 主动探索

Abstract：The localization problem for robot exploring unknown environment is studied.Under some unknown environ-ments,it is difficult to extract natural landmarks reliably,and the data association problem often occurs.So a novel landmark system that can be configured based on localization requirements is proposed.The configurable landmark,landmark cast de-vice and landmark observation device are designed and implemented.When the robot exploring the unknown environment,it configures landmarks online and dynamically to assist localization and environment exploration.The configurable landmark is light,of low cost and energy saving,and so it is easy to be carried and configured dynamically.The proposed landmark system appears effective for unknown environment exploration in experiments.

Key words： mobile robot landmark dynamic configuration active exploration

收稿日期: 2009-02-25 录用日期: 2000-11-12

TP24

基金资助:国家自然科学基金资助项目（60605021,60805031）；国家863计划资助项目（2006AA04Z223）

作者简介: 孙凤池（1973- ），男，博士，副教授．研究领域：智能机器人，嵌入式系统．
苑晶（1980- ），男，博士，讲师．研究领域：智能机器人，自动控制．
黄亚楼（1964- ），男，教授，博士生导师．研究领域：智能机器人，智能信息处理．

链接本文:

https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2010/V32/I1/77

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