摘要
为了提高激光SLAM导航定位的实时性和稳定性,采用自适应阈值法、迭代适应点以及最小二乘法结合直线度的方法提取局部地图中的特征线段和全局地图中的线段,通过特征线段匹配进行初始定位。利用惯性导航位姿推算结合地图匹配的方法进行动态定位,获得机器人的实时位姿。同时,采用动态重定位的方法进行重定位,提高了移动机器人对工作环境的适应能力和可靠性。实验表明,基于地图匹配的导航定位算法的定位精度在±40mm以内,定位的时间不大于0.03s,可以较好地满足机器人的实际导航需求。
In order to improve the real-time and stability of laser SLAM navigation and positioning,adaptive threshold method,iterative adaptive point method and least square method combined with straightness are used to extract feature lines in local map and initial positioning is carried out by matching line segments with line segments in global map.The real-time pose of the robot is obtained by using the method of inertial navigation pose calculation and map matching.At the same time,the method of dynamic relocation is adopted to improve the adaptability of the mobile robot to the working environment and the reliability.Experimental results show that the positioning accuracy of the navigation algorithm based on map matching is within±40mm and the positioning time is less than 0.03s,which can meet the actual navigation requirements of the robot well.
作者
张彦
陈学京
肖献强
王家恩
ZHANG Yan;CHEN Xue-jing;XIAO Xian-qiang;WANG Jia-en(School of Mechanical Engineering,Hefei University of Technology,Anhui Hefei 230009,China)
出处
《机械设计与制造》
北大核心
2023年第11期235-240,共6页
Machinery Design & Manufacture
关键词
激光导航
特征线段
线段匹配
地图匹配
Laser Navigation
Feature Extraction
Line Segment Matching
Map Matching
