摘要
通过针对搭载气体检测、视频采集、激光雷达等多传感器的消防侦检机器人的即时定位、地图构建与路径规划问题进行研究.同时,还研究了激光雷达与深度相机数据融合、环境信息与地图信息的可视化、动态路径规划等关键技术,提升机器人的建图、定位与规划效率,实现机器人自动控制、自主定位、路径规划和信息采集,提高国内消防侦检机器人的智能化水平.
Abstract
This paper studies the problem of the simultaneous localization,mapping and path planning of firefight-ing detection robots equipped with multiple sensors such as gas detection,video capture and the lidar,and aslo stud-ies key technologies such as the data fusion of the lidar and the depth camera,the visualization of environmental and map information,and dynamic path planning,which improves the efficiency of the mapping,localization and plan-ning of robots,realizes the autonomous control,autonomous localization,path planning and information collection of robots,and enhances the intelligence level of domestic firefighting detection robots.
基金项目
中国船舶集团有限公司第七一一研究所发展基金(Z2022BZ-04/HZ)
NETL
NSTL
万方数据