{"title":"基于kinect传感器的移动机器人局部不确定网格地图构建","authors":"Duan Yong, Shen Dongliang, Yu XiangYou, Wang Yu","doi":"10.1109/ICEICT.2016.7879711","DOIUrl":null,"url":null,"abstract":"In order to realize the safe and efficient movement of the robot, the method of constructing the grid map with local uncertainty of a mobile robot based on Kinect sensor is proposed. The robot's working environment is divided into three parts: the free area, the obstacle area and the unknown area. Kinect sensor is used to detect each area and determine the confidence level of the obstacles. Finally, the local grid map of the robot environment is constructed. Taking the wheeled mobile robot as the experimental platform, the possibility of the proposed algorithm is verified.","PeriodicalId":224387,"journal":{"name":"2016 IEEE International Conference on Electronic Information and Communication Technology (ICEICT)","volume":"215 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"Local uncertainty grid map construction of mobile robot based on kinect sensor\",\"authors\":\"Duan Yong, Shen Dongliang, Yu XiangYou, Wang Yu\",\"doi\":\"10.1109/ICEICT.2016.7879711\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In order to realize the safe and efficient movement of the robot, the method of constructing the grid map with local uncertainty of a mobile robot based on Kinect sensor is proposed. The robot's working environment is divided into three parts: the free area, the obstacle area and the unknown area. Kinect sensor is used to detect each area and determine the confidence level of the obstacles. Finally, the local grid map of the robot environment is constructed. Taking the wheeled mobile robot as the experimental platform, the possibility of the proposed algorithm is verified.\",\"PeriodicalId\":224387,\"journal\":{\"name\":\"2016 IEEE International Conference on Electronic Information and Communication Technology (ICEICT)\",\"volume\":\"215 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2016-08-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2016 IEEE International Conference on Electronic Information and Communication Technology (ICEICT)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICEICT.2016.7879711\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2016 IEEE International Conference on Electronic Information and Communication Technology (ICEICT)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICEICT.2016.7879711","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Local uncertainty grid map construction of mobile robot based on kinect sensor
In order to realize the safe and efficient movement of the robot, the method of constructing the grid map with local uncertainty of a mobile robot based on Kinect sensor is proposed. The robot's working environment is divided into three parts: the free area, the obstacle area and the unknown area. Kinect sensor is used to detect each area and determine the confidence level of the obstacles. Finally, the local grid map of the robot environment is constructed. Taking the wheeled mobile robot as the experimental platform, the possibility of the proposed algorithm is verified.
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