山东大学学报 (工学版) ›› 2023, Vol. 53 ›› Issue (2): 34-41.doi: 10.6040/j.issn.1672-3961.0.2022.368
张迪1,2,徐德1,2
ZHANG Di1,2, XU De1,2
摘要： 为充分利用环境的先验知识,使移动机器人在大规模室外环境中实现自主导航和定位,离线建立一种基于环境先验知识的多层次地图,它由拓扑地图、全局度量简图、语义地图和局部度量地图组成;提出基于节点附近物体共视关系的节点识别方法、基于线段的道路感知方法和基于消失点的导航控制方法;利用不同层次的地图实现路径规划、节点识别和相对位姿估计等,在室外环境试验中,机器人在大规模室外环境中实现自主导航并运动至目的地,验证了方法的有效性。
中图分类号:
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