摘要
为实现自主导航机器人在探索陌生环境情况下,能够自动定位、创建地图和路径规划,提出多传感器融合的移动机器人导航系统。采用同时定位与地图构建和路径规划方法,通过自主导航机器人导航系统的组合,融合激光雷达和视觉多传感器信息创建环境地图。构建软硬件系统,采用ROS操作系统和相应软件包,通过动态与静态相结合的方法,完成了实际场景建图和路径规划的实验。实验结果表明,移动机器人实现了对实际动态场景的自主定位、建图和路径规划,利用静态点特征估计相机位姿,验证了移动机器人导航系统的有效性和可行性。
A multi-sensor fusion mobile robot navigation system is proposed to enable autonomous navigation robots to automatically localize,create maps and path planning when exploring unfamiliar environments.Simultaneous localization with map construction and path planning methods are used to create environmental maps by fusing LIDAR and vision multi-sensor information through a combination of autonomous navigation robot navigation systems.The hardware and software system are constructed,and experiments on actual scene building and path planning are completed by combining dynamic and static methods using the ROS operating system and corresponding software packages.The experimental results show that the mobile robot achieves autonomous localization,map building and path planning for actual dynamic scenes by estimating camera poses using static point features and the effectiveness and feasibility of the mobile robot navigation system is verified.
作者
仉新
张旭阳
毛宇新
李锁
ZHANG Xin;ZHANGXuyang;MAOYuxin;LI Suo(School of Mechanical Engineering,Shenyang Ligong University,Shenyang 110159,China;Shenyang Institute of Computing Technology,Chinese Academy of Sciences,Shenyang 110168,China;School of Software,Northeastern University,Shenyang 110169,China)
出处
《长江信息通信》
2023年第5期52-55,共4页
Changjiang Information & Communications
基金
辽宁省教育厅面上青年人才项目(LJKZ0258)
2022年辽宁省科技厅博士科研启动基金计划项目(2022-BS-187)。
