基于LieICP算法和激光雷达的移动机器人位姿估计.doc

文档介绍：
基于 LieICP 算法和激光雷达的移动机器人
位姿估计#
杜少毅1,张春家1,刘娟1,应时辉2**
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(1. 西安交通大学人工智能与机器人研究所,西安 710049;
2. 上海大学理学院数学系, 上海 200444)
摘要:本文研究了在机器人导航、目标跟踪等领域中的室外移动机器人自主定位问题,给出
了一种基于激光雷达数据和 Lie 群表示点集配准算法的在线位姿估计方法。首先,对移动机
器人系统引入二维激光雷达,将机器人自主定位问题转化为序列点集配准问题;然后,通过
Lie 群参数化方法,对点集配准问题进行求解;从而最后得到一个移动机器人自主定位方案。
室外实验表明,该方案不仅解决了 GPS 受到信号盲区的干扰的问题,而且提高了算法的速度
以及对环境、噪声等因素的鲁棒性。
关键词:模式识别与智能系统;激光数据;位姿测量;点集配准;迭代最近点
中图分类号:
Pose estimation of mobile robots based on LieICP algorithm
and laser radar
DU Shaoyi1, ZHANG Chunjia1, LIU Juan1, YING Shihui2
(1. Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University, Xi'an 710049;
2. Department of Mathematics, School of Science, Shanghai University, Shanghai 200444)
Abstract: In this paper, the online pose estimation of mobile robots is addressed, which is widely
considered in the robot navigation, and target tracking, etc.. A novel method based on the laser
radar data and the point set registration algorithm by Lie group representation is designed. First,
2D laser radar is introduced to the system of robotic motion, then the problem is translated into a
series of point set registration. Second, by Lie group parametrization method, the point set
registration problem is well solved. Then, a strategy of self-localization is formed. Finally, the
outdoor experiment validates that our proposed method