城市环境中移动机器人的自动导航地图生成
Automatic Navigation Map Generation for Mobile Robots in Urban Environments
AI总结：
本文提出一种利用单个顶部安装3D LiDAR自动生成城市环境移动机器人导航地图的算法，能识别正负障碍物及不同地形，经实验验证对多种不确定性具有鲁棒性。
摘要：
移动机器人安全高效导航的一个基本前提是拥有可靠的导航地图，以便在其上规划轨迹。随着工业界对移动机器人兴趣的日益增加，特别是在城市环境中，生成导航地图的过程备受关注，因为它是部署过程中一个劳动密集型的步骤。自动化这一步骤极具挑战性，当感知能力因成本考虑而受限时，这项任务变得更加艰巨。本文提出了一种算法，使用典型的导航导向传感器设置：单个顶部安装的3D LiDAR传感器，来自动生成导航地图。所提出的方法以城市环境为主要用例进行设计和验证：结果表明，它能够生成包含不同地形类型、不同高度的正障碍物以及负障碍物的精确地图。该算法被应用于轮式倒立摆机器人在典型城市环境中收集的数据，展示了其对定位、感知和动态不确定性的鲁棒性。生成的地图通过人工制作的地图进行了验证。
英文摘要：
A fundamental prerequisite for safe and efficient navigation of mobile robots is the availability of reliable navigation maps upon which trajectories can be planned. With the increasing industrial interest in mobile robotics, especially in urban environments, the process of generating navigation maps has become of particular interest, being a labor intensive step of the deployment process. Automating this step is challenging and becomes even more arduous when the perception capabilities are limited by cost considerations. This paper proposes an algorithm to automatically generate navigation maps using a typical navigation-oriented sensor setup: a single top-mounted 3D LiDAR sensor. The proposed method is designed and validated with the urban environment as the main use case: it is shown to be able to produce accurate maps featuring different terrain types, positive obstacles of different heights as well as negative obstacles. The algorithm is applied to data collected in a typical urban environment with a wheeled inverted pendulum robot, showing its robustness against localization, perception and dynamic uncertainties. The generated map is validated against a human-made map.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
