Genetic algorithms for sanning matching of 2D laser data fused with NDT

MU Lili; CHEN Kai; HE Shizheng; YAO Pantao; QI Nana

doi:10.13873/J.1000-9787(2021)03-0123-04

Chinese

您当前的位置：

首页 >

文章列表页 >

Genetic algorithms for sanning matching of 2D laser data fused with NDT

更新时间：2025-09-11

- Genetic algorithms for sanning matching of 2D laser data fused with NDT
- Issue 3, Pages: 123-126(2021)
- 作者机构：
  
  安徽理工大学机械工程学院
- 作者简介：
- 基金信息：
- DOI：10.13873/J.1000-9787(2021)03-0123-04
  CLC： TP18;TN249
- Published：2021
- 稿件说明：
移动端阅览
MU Lili, CHEN Kai, HE Shizheng, et al. Genetic algorithms for sanning matching of 2D laser data fused with NDT[J]. 2021, (3): 123-126.
DOI：

MU Lili, CHEN Kai, HE Shizheng, et al. Genetic algorithms for sanning matching of 2D laser data fused with NDT[J]. 2021, (3): 123-126. DOI： 10.13873/J.1000-9787(2021)03-0123-04.

摘要

针对激光数据扫描匹配中正态分布变换(NDT)算法在初始误差较大的情况下容易陷入局部极值的问题

提出了一种融合NDT的遗传算法(NGSAM)。引入NDT构建栅格

同时建立查找表加快求解速度

利用遗传算法搜索当前激光帧扫描数据和参考激光帧扫描数据的最优匹配。仿真实验结果表明:该算法在激光数据扫描匹配问题中取得了很好的效果

进一步提高了移动机器人的定位精度。

Abstract

Aiming at the problem that in Laser data scanning matching

Normal distribution transform（ NDT）algorithm is easy to fall into local extremum when the initial error is large

a genetic algorithm fused with NDT is proposed. NDT is introduced to construct the grid

and a lookup table is established to speed up the solution speed. The genetic algorithm is used to search the optimal matching between the current laser frame scanning data and the reference laser frame scanning data. The simulation results show that the algorithm achieves good effect in laser data scanning matching

and further improves the positioning precision of mobile robots.

关键词

Keywords

references

Views

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Design of monitoring system for restaurant fume based on information fusion

Research on energy saving algorithms for WSNs based on K-Means

Research on efficiency optimization of magnetically coupled resonant wireless power transmission system

Application of FCM and neural network in power load data correction

Application of improved genetic algorithm in shared bicycle parking point allocationFull text replacement

Related Author

DING Chengjun

XU Guanglu

LIU Yunfan

JIA Lizhen

LI Wei

ZHANG Fengmei

ZHAO Yue

SHEN Yanxia

Related Institution

School of Mechanical Engineering,Hebei University of Technology

School of Automation,Xi’an University of Posts and Telecommunications

Engineering Research Center of Internet of Things Technology Applications,Ministry of Education,Jiangnan University

Grid Technology Center,Power Science Research Institute of Gansu Electric Power Company

College of Computer and Communication,Lanzhou University of Technology

⁰