关键词: 激光扫描, 移动机器人, 运动轨迹, 实时测量, 卡尔曼滤波

Abstract:

A kind of laser scanners based realtime trajectory measurement system for mobile robot is proposed. The system consists of four main components: laser scanner, data acquisition computer, wireless communication network and data process software. Two laser scanners measure the sign pole of the robot in different levels to localize the robot, and the measurement data are transferred to one computer and fused after position identifying and coordinate matching. The measurement stochastic error is eliminated by Kalman filter, and the trajectory of mobile robot is painted.

Key words: laser , scanner,  , mobile , robot,  , movement , trajectory,  , realtime , measurement,  , Kalman , filter