越野环境的三维地图重建

31220074JournalofNanjingUniversityofScienceandTechnologyVol.31No.2Apr.2007:2005-03-21:2007-01-08:(1976-),,,,:,E2mail:[e-mail]1,2,2(1.,110136;2.,310027):,(LD_ML),DGPS/INS,,:,:;;;:TP242.6:1005-9830(2007)02-0180-0432DMapReconstructioninCross2countryEnvironmentYUChun2he1,2,LIUJi2lin2(1.DepartmentofElectronicEngineering,ShenyangInstituteofAeronauticalEngineering,Shenyang110136,China;2.CollegeofInformationScienceandEngineering,ZhejiangUniversity,Hangzhou310027,China)Abstract:Inordertobuildaprecise32Dmapofoutdoorenvironment,anovelmapreconstructional2gorithmisproposedbasedonamobilerobot.Therobotusesafour2layerlaserradar(LD2ML)toob2tainspaceinformationandusesaDGPS/INS(DifferenceGPS/InertialNavigationSystem)positionsystemtoobtainitsposeandpositioninformation.Withtheaimofbuildingacomplete32Dgridmap,therangedataofenvironmentarechangedintoaworldcoordinatesystemwiththesimultaneousposi2tiondataoftherobot.Sincetheoutdoorenvironmentisalwayscomplicated,the32Dgridmapisbuiltbyupdatingz2coordinatevalueusingobstacledetectionresults.AndtheobstacledetectionisachievedbyLD2MLaccordingtothegradientandheightinformationofdetectionregions.Theresultsof32Dgripmapreconstructionshowthe32Dmapreconstructionalgorithmisreliableandstable.Keywords:mobilerobots;four2layerlaserradars(LD_ML);cross2countryenvironment;mapre2construction,,(SLAM),,[1,2][3][4]1533,,,SLAM,DGPS/INS;,,IBEO(LD_ML)1DGPS/INS2LD_ML,;OEM42G2DGPS/INS,30ms,1.1LD_MLLD_ML,905nm,LD_ML,44,3.2,1.06,,;270,0.25,1040HzLD_ML,76cm,,111.2DGPS/INS[5,6],,,,DGPS/INSDGPS,(RTK),,,INS,,DGPS,INS,INSDGPS,INS,XY20cmDGPS,,DGPSXYjzj,j,j+1zj+1=zj+tan((j+j+1)/2)(xj+1-xj)2+(yj+1-yj)22,,,2.1,THT(2),:(1)T,212;(2)HHT,2BCDH1,ABH222.2[7](1);(2)T,;(3),;(4),2.3,:,181312;,(),f=0;f=-1:(1),f=0,z,t=1;(2)t,f=-1;(3)LD2ML,Qi(Qix,Qiy,Qiz),(Qix,Qiy)(xm,ym)(m,m=1,2,3,),2:f=0,nt=nt-1+1,zt=(Qiz+nt-1zt-1)/nt(t=1,h1=Qiz);f=-1,Qizht-1,ht=Qiz,ht=ht-1(4)t=t+1;(5)goto(2),;(6),3,2,3(a),,;4(a),3(b)4(b)240,,30cm30cm50cm50cm,T=70,HT=30cm343(c)4(c)2LD_ML,,3(c),,,4(c),,,,,4,DGPS/INS,,,,,,,281153,,,:[1]DissanayakeG,NewmanP,ClarkS,etal.Asolutiontothesimultaneouslocalizationandmapbuilding(SLAM)problem[J].IEEETransonRoboticsandAutomation,2001,17(3):229-241.[2]KworkNM,DissanayakeG.Bearing2onlySLAMinin2doorslamenvironmentsusingamodifiedparticlefilter[A].ProceedingsoftheAustralasianConferenceonRoboticsandAutomation[C].Brisbane:2003.1-8.[3]LeonardJJ,FederHJS.Acomputationallyefficientmethodforlarge2scaleconcurrentmappingandlocali2zation[A].ProceedingsoftheNinethInternationalSymposiumonRoboticsResearch[C].London:Springer2Verlag,1999.316-321.[4]GuivantJ,NebotE,BaikerS.Autonomousnavigationandmapbuildingusinglaserrangersensorsinoutdoorapplications[J].JournalofRoboticSystems,2000,17(10):565-583.[5]OlsonCF.Mobilerobotself2localizationbyiconicmatchingofrangemaps[A].Proceedingsofthe8thInternationalConferenceonAdvancedRobotics[C].CA:The8thInternationalConferenceonAdvancedRobotics,1997.447-452.[6],.[J].,2003,24(1):65-68.[7],..(),2006,30(5):618-621.(150):[1],,.[J].,2003,15(1):51-54.[2].[M].:,1993.[3],.[J].,2002,23(1):10-13.[4],,.[J].,2006,27(2):210-214.381