摘要
为了得到未知环境下的地图与路径规划信息,采用2D激光雷达获取室内深度信息,使用Gmapping与Hector算法进行自主定位与导航。在设计一辆智能监测系统小车的基础上,分别对2种算法进行测试和分析。结果发现,在车速较低、外部环境不复杂的情况下,Gmapping较Hector算法有更好的鲁棒性,实现了精确定位与导航;但在无法精确计算里程计信息的情况下,Gmapping算法将无法使用,而此种情况下Hector算法更具有优势。
In order to obtain map and path planning information in unknown environment,2D lidar is used to obtain indoor depth information.Gmapping and Hector algorithm is used for autonomous positioning and navigation.On the basis of designing a car with intelligent monitoring system,the two algorithms are tested and analyzed respectively.The experimental results show that Gmapping algorithm is more robust than Hector when the vehicle speed is low and the external environment is not complicated.It realizes accurate positioning and navigation.But Gmapping will not work if the odometer information cannot be accurately calculated.And in this case,Hector algorithm has more advantages than Gmapping algorithm.
作者
李娜
贺海育
贾伟
雍龙泉
LI Na;HE Haiyu;JIA Wei;YONG Longquan(School of Mathematics and Computer Science,Shaanxi University of Technology,Hanzhong 723000,China;School of Electronic Engineering,Xi’an Aeronautical University,Xi’an 710017,China)
出处
《无线电工程》
北大核心
2022年第4期612-616,共5页
Radio Engineering
基金
国家自然科学基金(11401357)
陕西省教育厅重点科学研究计划项目(20JS021)
陕西理工大学科研基金项目(SLG1807)。
