激光雷达在复杂环境下机器人运动轨迹实时检测中的应用

Application of lidar in real-time detection of robot's motion track in complex environsment

针对机器人运动环境的动态多变特点,以及传统方法检测精度差问题,研究激光雷达在复杂环境下机器人运动轨迹实时检测中的应用。利用激光雷达检测原理,获取目标与激光雷达的距离图像,在距离图像中分析反射信号强度与入射信号强度,获取目标回波强度并反演出目标距离;采用卡尔曼滤波方法滤波估计障碍位置,实现机器人运动过程中障碍物的跟踪预测;在此基础上,通过分析机器人运动的单次成像回波峰值点轨迹分布,实现复杂环境下机器人运动轨迹实时检测。实验结果表明,该方法可以在复杂环境下检测警用巡逻机器人运动轨迹,在检测距离、障碍物排除率、运动轨迹检测响应时间3个方面均具有明显优势,各种复杂环境下机器人运行轨迹误差均值小,检测精度高。

In this paper,the application of lidar in real-time detection of robot trajectory in complex environment is studied.Based on the principle of lidar detection,the range image between target and lidar is obtained,the reflected signal intensity and incident signal intensity are analyzed in range image,the echo intensity of the target is obtained and the target distance is inversely displayed.The obstacle position is estimated by Kalman filtering method to realize tracking and prediction of obstacles in process of robot movement.On this basis,the single imaging echo peak point trajectory distribution of robot movement is analyzed to realize real-time detection of robot motion trajectory in complex environment.The experimental results show that this method can detect the movement track of police patrol robot in complex environment.It has obvious advantages in three aspects:detection distance,obstacle removal rate and response time of movement track detection.In various complex environments,the mean value of robot movement track error is small and the detection accuracy is high.