基于激光雷達的機器人三維地形構(gòu)建和草叢中障礙物檢測.pdf

1、浙江大學(xué)碩士學(xué)位論文基于激光雷達的機器人三維地形構(gòu)建和草叢中障礙物檢測姓名：孫宇申請學(xué)位級別：碩士專業(yè)：信息與通信工程指導(dǎo)教師：劉濟林20070501瀕扛大學(xué)臻Jzq：位論文AbstractWiththedevelopmentofscienceandteeimologythemodernrobotshavebeenwidelyusedfrommufaetrigindustrytomanydifferelitfieldssuela舔mil

2、itaryapplicationeiviliaapplicationserviceindustryandscientificreseareiLArobotiscapableofperformingsomlodisgusting。riskyorlnOllOlOnoustasksassignedtohumanbeings。In也e卸髓ofrobotslaserradarisaveryimportantSI：IIISOrandnearlyev

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4、dissertationⅥmstesolvehowtobuilda3Ddatacollectionsystemusing鑫2DlaserradarComparedwith2Dlaserradarthe3DlaserradarisrnOlrCvisualandhaslargerscaleofviewbutitisttsuallyveryexpensiveThedissertationusedthesteppermotorandMSC51c

5、ontrolparttodrivethe2Dlaserradarrotatebythehorizontalaxistocollectthe3DdataAndtheprecise3DinformationWSSgainedbycalibratingThesecondpartofthedissertationwastoresolvetheoutdoorenvironmentbuildingusingthe3Ddatacollectionsy

6、stemBecausetheralagedatacollectedbyla∞lrradarw鶴obtainedrelativetotheradarreferenceflalnlewcmustregisteredscansfromdiffcrl!ntpositionsintotheworldcoordinatebyusingthelaserradarpositionandattitude。SotheICIPregistrationalgo

7、rithm強淄ptoposextanditwasimprovedinreducingtheoperationtilnedeletingthenonoverlapwAaTl。tltoimprovetheprecisionofthealgorithmandeliminatingthelocalminimumproblemAbackwardregistrationmethodwasproposedtoreducetheaccumulation

8、eITOI“ofregistrationofmultipledepthpicturesAtlasta3DmapwasbuiltusingtheOpen(3LThethirdpartofthedissertationwastesolve|hedetectionofobstacleinhighgrassWhentherobotlnoYcsinafieldofgrassthegrasscantbcseenasobstacleSothegras