首页|A Robust 2D Lidar SLAM Method in Complex Environment
A Robust 2D Lidar SLAM Method in Complex Environment
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国家科技期刊平台
NETL
NSTL
万方数据
维普
The two-dimensional(2D)lidar is a ranging optical sensor that can measure the cross-section of the geometric structure of the environment.We propose a robust 2D lidar simultaneous localization and mapping(SLAM)algorithm working in ambiguous environments.To improve the front-end scan-matching module's accuracy and robustness,we propose performing degeneration analysis,line landmark tracking,and environment coverage analysis.The max-clique selection and odometer verification are introduced to increase the stability of the SLAM algorithm in an ambiguous environment.Moreover,we propose a tightly coupled framework that integrates lidar,wheel odometer,and inertial measurement unit(IMU).The framework achieves the accurate mapping in large-scale environments using a factor graph to model the multi-sensor fusion SLAM problem.The experimental results demonstrate that the proposed method achieves a highly accurate front-end scan-matching module with an error of 3.8％of the existing method.And it can run stably in ambiguous environments where the existing method will be failed.Moreover,it ccan successfully construct a map with an area of more than 250 000 square meters.
Roboticssimultaneous localization and mapping2D lidarmulti-sensor fusion
Shan HUANG、Hong-Zhong HUANG、Qi ZENG、Peng HUANG
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Center for System Reliability and Safety,University of Electronic Science and Technology of China,Chengdu 611731,China
EvenTec Co.,Ltd.,Chengdu 610097,China
Jiangxi University of Science and Technology,Ganzhou 341000,China
国家科技期刊平台
NSTL
万方数据
维普
