使用基于二维激光雷达的自动移动机器人驾驶遥控电梯的程序
Jordi Palacín1, Ricard Bitriá1, Elena Rubies1
1Robotics Laboratory, Universitat de Lleida, Jaume II, 69, 25001 Lleida, Spain.
Sensors (Basel, Switzerland)
|July 14, 2023
概括
自主移动机器人现在可以在楼层之间使用电梯. 这种新程序使用2D LIDAR和ICP匹配来实现机器人的自我定位,从而实现地板导航.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 计算机视觉 计算机视觉
- 人工智能的人工智能
背景情况:
- 导航多层建筑通常涉及楼梯或电梯.
- 自主移动机器人 (AMR) 在建筑物内的垂直运输方面面临挑战.
- 现有的AMR系统往往缺乏用于楼层间移动的综合解决方案.
研究的目的:
- 提出和验证一种自主移动机器人使用遥控电梯的程序.
- 为了使AMR能够在多层建筑的不同楼层之间导航.
- 为了利用2D LIDAR进行机器人自我定位和电梯交互.
主要方法:
- 实施代最接近点 (ICP) 匹配,以实现精确的移动机器人自我定位.
- 使用建筑楼层的二维地图,包括电梯位置.
- 开发一种程序,让机器人与远程操作的电梯进行接口和控制.
主要成果:
- 拟议的程序成功使自主移动机器人进入并操作遥控电梯.
- 机器人展示了使用2D LIDAR数据在不同楼层之间导航的能力.
- 通过ICP匹配成功的自我定位对于电梯交互和导航至关重要.
结论:
- 开发的程序允许自主移动机器人使用电梯在楼层之间自主导航.
- 基于2D LIDAR的自我定位对于在多层环境中运行的AMR是有效的.
- 这一进步为复杂建筑结构中的机器人提供了更全面的自主权.
关键词:
在ICP中,ICP是IPP.斯拉姆斯兰姆斯兰姆斯兰姆斯兰姆斯兰姆斯兰姆斯兰姆斯兰姆斯兰姆斯电梯 电梯 是一个电梯.升降机 升降机 升降机 升降机 升降机 升降机 升降机 升降机移动机器人 移动机器人多层楼导航导航系统遥控器是远程控制器中的一个.更多相关视频
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