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对机器人通过某地形的难易程度进行研究,融合视觉信息和空间信息,从地形坡度、地形起伏度、障碍离散度、壕沟宽度和连续阶梯影响度5个方面评价地形可通过性,以增加机器人对复杂环境理解能力。在自行研制的CUMT-Ⅴ机器人上对复杂导航环境进行验证,实验结果表明评价方法能满足机器人在复杂环境中的导航需求。
This paper studies the robot’s ease of access through a terrain, combines the visual information and spatial information, evaluates the terrain viability from five aspects: terrain slope, undulating topography, barrier dispersion, trench width and continuous ladder influence to increase the robot Understand the complex environment. The complicated navigation environment is verified on a self-developed CUMT-V robot. Experimental results show that the proposed method can meet the robot’s navigation needs in complex environment.