论文标题
使用多个传感器进行自动移动机器人导航
Using multiple sensors for autonomous mobile robot navigation
论文作者
论文摘要
本文介绍了使用多传感器测量系统来指导房屋中的自动移动机器人。该系统允许3D图像采集到全局映射，并且算法可以使用Lyapunov函数方法将图像的维度降低到2D全局地图导航，轨迹设计方法，并避免势能避免障碍。同样，基于扩展的卡尔曼滤波器的传感器集成方法使我们能够在存在来自环境的干扰的情况下确定机器人的确切位置和方向。
This paper presents the use of multi-sensor measurement system to guide autonomous mobile robot in the house. The system allows the 3D image acquisition to global mapping, and algorithms to reduce the dimensionality of images to 2D global map navigation, trajectory design approach using the Lyapunov function method and avoid obstacles by the potential energy can also be presented. Also, sensor integrated method based on extended Kalman filter allows us to identify the exact location and orientation of the robot in the presence of interference from the environment.
