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震后建筑内部层次化SLAM的地图模型转换方法

王楠 马书根 李斌 王明辉 赵明扬

王楠, 马书根, 李斌, 王明辉, 赵明扬. 震后建筑内部层次化SLAM的地图模型转换方法. 自动化学报, 2015, 41(10): 1723-1733. doi: 10.16383/j.aas.2015.c150125
引用本文: 王楠, 马书根, 李斌, 王明辉, 赵明扬. 震后建筑内部层次化SLAM的地图模型转换方法. 自动化学报, 2015, 41(10): 1723-1733. doi: 10.16383/j.aas.2015.c150125
WANG Nan, MA Shu-Gen, LI Bin, WANG Ming-Hui, ZHAO Ming-Yang. A Model Transformation of Map Representation for Hierarchical SLAM That Can Be Used for After-earthquake Buildings. ACTA AUTOMATICA SINICA, 2015, 41(10): 1723-1733. doi: 10.16383/j.aas.2015.c150125
Citation: WANG Nan, MA Shu-Gen, LI Bin, WANG Ming-Hui, ZHAO Ming-Yang. A Model Transformation of Map Representation for Hierarchical SLAM That Can Be Used for After-earthquake Buildings. ACTA AUTOMATICA SINICA, 2015, 41(10): 1723-1733. doi: 10.16383/j.aas.2015.c150125

震后建筑内部层次化SLAM的地图模型转换方法

doi: 10.16383/j.aas.2015.c150125
基金项目: 

国家自然科学基金(61473283)资助

详细信息
    作者简介:

    王楠 中国科学院沈阳自动化研究所 博士研究生. 主要研究方向为移动机器 人及同步定位与地图创建. E-mail: wangnan@sia.cn

    通讯作者:

    王明辉 中国科学院沈阳自动化研究所 研究员. 主要研究方向为移动机器人, 机 器人控制, 多机器人协作. 本文通信作者. E-mail: mhwang@sia.cn

A Model Transformation of Map Representation for Hierarchical SLAM That Can Be Used for After-earthquake Buildings

Funds: 

Supported by National Natural Science Foundation of China (61473283)

  • 摘要: 由于震后建筑内部环境受损程度和震害形态分布的无法预见性, 层次化SLAM地图模型转换难以直接预设划分参数. 本文提出一种基于图形分割的区域划分方法, 实现层次化SLAM地图模型转换. 通过对机器人里程和观测信息进行图形映射, 基于信息熵生成节点集, 将环境相似度作为边的权重, 构建无向加权图及相似度矩阵; 并采用归一化割策略对图形进行划分, 得到以机器人观测视角的环境空间划分结果; 方法在解决SLAM计算量递增问题的基础上, 最小化相关信息损失, 确保全局一致性. 最后, 通过仿真及模拟废墟实验, 验证算法的有效性和可行性.
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出版历程
  • 收稿日期:  2015-03-17
  • 修回日期:  2015-05-13
  • 刊出日期:  2015-10-20

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