基于激光与视觉融合的复合机器人高精度导航系统

High-Precision Navigation System for Automatic Robot Via the Fusion of Lidar and Vision

面向复合机器人操作、转运对于导航定位精度和稳定性的重要需求,融合激光雷达与视觉定位设计了一套高精度导航定位系统,有效克服了激光雷达灵活导航或视觉标志物高精度定位单一功能的局限性。该系统分两阶段实现高精度定位导航。首先,利用SLAM(simultaneous localization and mapping)算法实现环境地图的构建;其次,通过激光雷达、IMU(inertial measurement unit)实现第一阶段灵活定位导航,并添加三维激光雷达来增强避障功能;最后,利用视觉识别方法实施第二阶段的高精度导航定位,将精度进一步提高到10 mm以内。实验结果表明所设计的复合机器人(移动平台和抓取机械臂)导航定位系统能够稳定运行,平均定位精度为5.1 mm,相较于调整前提升了82.7%,并在室内场景验证应用。

Facing the important requirements of navigation accuracy and stability for the operation and transfer of composite robots,this paper designs a high-precision navigation and positioning system by combining lidar and visual positioning,which effectively overcomes the limitation of single function of lidar flexible navigation or visual markers high-precision positioning.The system achieves high precision positioning and navigation in two phases.First,use the SLAM(simultaneous localization and mapping)algorithm to construct the environment map,Then,one-stage positioning and navigation are realized through lidar and IMU(inertial measurement unit),and three-dimensional lidar is added to enhance obstacle avoidance function.Finally,the visionrecognition method is used for precise positioning,and the accuracy is further improved to within 10 mm.The experimental results show that the composite robot(mobile platform and grab manipulator)navigation system designed in this paper can operate stably,and the final average positioning accuracy is 5.1 mm,which is 82.7%higher than that before adjustment,and verify the application in indoorscene.