摘要： 地图创建是实现机器人在未知环境中自主导航的关键。该文对移动机器人在地图创建中所收集的不确定传感信息进行研究，分析声纳传感器的散射和镜面反射特性，提出一种改进的概率栅格的地图创建方法。该方法将距离信任因子引入到声纳传感器模型。利用该模型，实现移动机器人的自主地图创建，并有效地减少由于声纳传感器所引起的不确定性。通过机器人平台上进行的实验表明该方法的有 效性。

关键词: 地图创建, 不确定信息, 移动机器人, 声纳传感器, 距离信任因子

Abstract: Map building is very important to accomplish autonomous navigation. This paper presents the research on the problem of uncertainty sensor information processing in map building of mobile robots, and especially focuses on the scattering and specular reflection of sonar. In this paper, an improved method based on probabilistic grid is proposed. This method introduces range confidence factor in ultrasonic model and is applied to autonomous map building of mobile robot. So uncertainty in sonar sensor responses can be successfully reduced. Experimental results in robots platform indicate that the model improves the performance of sonar sensors.

Key words: map building, uncertain information, mobile robot, sonar sensor, range confidence factor

中图分类号: 

• TP242