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首页> 外文期刊>International journal of computer science and network security >Design of the 3D perceptive system based on laser scanner for a mobile robot
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Design of the 3D perceptive system based on laser scanner for a mobile robot

机译：基于激光扫描仪的移动机器人3D感知系统设计

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It is necessary for autonomous navigation of mobile robot to have the ability of terrain mapping and analysis for 3D environment. This paper designs a 3D perceptive system for a mobile robot based on a 2D laser scanner LMS291 mounting on a high precision rotating table with horizontal and pitch rotation. Based on the measurement principle of LMS291, its ranging accuracy in different condition is tested and analyzed. A terrain mapping method is proposed and an elevation map is built for the purpose of terrain analysis. By analyzing the cause of system error and sensor noise, a dynamic adaptive filter is presented to realize the real-time and dynamic filter. In addition, the smoothing filter based on the Gaussian distribution is introduced to reduce the scanning gap. In order to classify the free area and obstacle area, terrain flatness analysis by the elevation map is implemented. Experiment results demonstrate that the system for 3D perception is effective and it can provide the support for mobile robot navigation.
机译：移动机器人的自主导航必须具有针对3D环境的地形映射和分析能力。本文设计了一种基于2D激光扫描仪LMS291的移动机器人3D感知系统，该系统安装在水平和俯仰旋转的高精度旋转台上。根据LMS291的测量原理，测试和分析了其在不同条件下的测距精度。提出了一种地形图绘制方法，并建立了一个高程图以进行地形分析。通过分析系统误差和传感器噪声的原因，提出了一种动态自适应滤波器来实现实时动态滤波器。另外，引入了基于高斯分布的平滑滤波器以减小扫描间隙。为了对自由区域和障碍区域进行分类，通过高程图进行了地形平坦度分析。实验结果表明，用于3D感知的系统是有效的，并且可以为移动机器人导航提供支持。

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