摘要
从实现室内或者未知环境下的地图导航这一目的出发,设计了一种自主定位的智能小车模型。该类型智能小车搭载数据传感器、Arduino控制器、英伟达（Nvidia）嵌入式控制器以及双目摄像头ZED,基于机器人操作系统（ROS）对小车进行控制与开发,搭建了一个无人车的验证模型,将即时定位与地图构建（SLAM）技术部署在小车上。重点实现了：基于ORB_SLAM2算法的SLAM,基于ROS的智能小车系统的控制,智能小车通过双目摄像头感知环境信息,能够在运动过程中建立所处环境地图模型。实验结果表明,小车能够感知周围环境并建立准确的地图模型。
In order to realize map navigation in indoor or unknown environments,an autonomous positioning model for smart cars was designed.This type of smart car equipped with data sensors,Arduino controller,Nvidia embedded controller and binocular camera ZED,based on the robot operating system ROS control and development of the car,setting up a verification model for unmanned vehicles,will be positioned and built at the same time The SLAM technology is applied on the car.Emphasis was placed on the realization of SLAM based on ORB_SLAM2 algorithm and the control of ROS-based smart car systems.The smart car can perceive environmental information through binocular cameras and can establish its environment map model during the sports process.The experimental results show that the car can perceive the surrounding environment and establish an accurate map model.
作者
朱舜
王立群
何军
Zhu Shun;Wang Liqun;He Jun(School of Electronic ＆ Information Engineering,Nan.ling University of Information Science ＆ Technology,Nanjing 210044,China)
出处
《电子测量技术》
2018年第14期21-25,共5页
Electronic Measurement Technology
基金
江苏省大学生实践创新训练计划(201610300033)
江苏高校优势学科Ⅱ期建设工程项目资助
