针对自主移动机器人局部地图构建问题,分析了几种应用较广的测距传感器的优缺点和地图构建中使用的激光传感器的数学模型及其非线性问题。在给出局部地图构建的一般模型的基础上本文提出了一种机器人局部地图构建的一种新方法,该方法针对传感器数据的不确定问题采用加权最小二乘方法对机器人在导航过程中的局部地图进行构建,具有实现容易、精度较高等特点。仿真和实验结果表明该方法在移动机器人使用激光测距传感器进行环境建模和地图构建过程中可以有效的减小直线拟合误差,进而达到有效建图的目的。

To solve the problem of local map building in the field of mobile robot navigation, we analyze advantages and drawbacks of several kinds of range finders, the model of laser range finder and its nonlinear problem which appears in local map building. A novel method is presented based on commonly model in autonomous mobile robot local map building. This method adopts weighted least means square to build local map and it can be easily implemented and has high precision. The emulation and experiment result shows that the method can effectively reduce the error of curve fitting in the field of robot navigation.