基于RGBD的机器人室内SLAM与路径规划系统

摘要

By use RGB-D sensor mounted on NAO robot,this paper captures sensor data for feature extraction and matching,then integrate the RGB and depth data and establish an environmental map.On the environment map,this paper uses the Path Search Algorithm of D* for the robot to plan its path.This paper constructs a simultaneous localization and mapping system (SLAM) for NAO robot in indoor environment,in the generated map,the NAO robot can plan its path and control its motion correctly.%移动机器人路径规划通常需要搭载多种传感器来建立环境模型和对自身进行定位，导致系统过于复杂。通过NAO机器人搭载的RGB－D传感器，在ROS环境下，对传感器数据进行特征提取和匹配，融合RGB和深度数据，建立环境地图并对机器人进行定位；在环境地图上，利用D*路径搜索算法，对机器人路径进行规划。实现了室内环境下移动机器人的同时定位与建图系统（SLAM），并在生成的环境地图中进行路径规划与控制。