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首页> 外文期刊>International journal of image and data fusion >Development of an efficient laser grid mapping technique: P-SLAM
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Development of an efficient laser grid mapping technique: P-SLAM

机译：开发有效的激光栅格映射技术：P-SLAM

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摘要

Occupancy grid mapping in the field of mobile robotics is an integrative and promising solution for the various prerequisite such as path planning, autonomous navigation, localization, SLAM (Simultaneously Localization And Mapping) etc. The reliability of the occupancy grid mapping depends upon diverse parameters such as sensor accuracy, size of a grid cell, intrinsic and extrinsic parameters, sensor registration, sensor modelling, scanning angle, ambient conditions, etc. This research reveals the uncertainty in the generation of the laser occupancy grid map with the implementation of conventional laser geometry technique when the detected obstacle/ target is on the perimeter of the grid cell. During autonomous navigation, the obstacle and the mobile robot are in a dynamic state that consequence in the wrong perception of the environment by identifying the wrong grid cell as occupied in the occupancy grid map when the obstacle is on the perimeter of the grid cell. The examined error is reduced by a newly designed Perimeter-based SLAM (P-SLAM) technique based on the vector algebra, laser geometry, Inverse Sensor Model and coordinate system. The obtained results with the implementation of P-SLAM are validated w.r.t conventional approaches with qualitative and quantitative analysis by performing real-world experiments.
机译：移动机器人领域的占用网格映射是针对各种先决条件（例如路径规划，自主导航，本地化，SLAM（同时本地化和映射）等）的集成且很有前途的解决方案。占用网格映射的可靠性取决于各种参数，例如如传感器精度，网格单元的大小，内在和外在参数，传感器配准，传感器建模，扫描角度，环境条件等。这项研究揭示了在采用传统激光几何图形的情况下生成激光占用网格图的不确定性当检测到的障碍物/目标在网格​​单元的周长上时，使用该技术。在自主导航期间，障碍物和移动机器人处于动态状态，通过在障碍物位于网格单元的周边上时将错误的网格单元标识为占用栅格地图中的错误，从而导致对环境的错误感知。通过基于矢量代数，激光几何，逆传感器模型和坐标系的新设计的基于边界的SLAM（P-SLAM）技术，可以减少检查的误差。通过执行真实世界的实验，使用常规方法进行定性和定量分析，验证了实施P-SLAM的结果。

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