Design and Implementation of a Remote Environment Awareness Platform
This study designed a remote environment sensing platform based on autonomous exploration,navigation and posi-tioning technology to detect and collect environmental data of terrain,temperature,humidity and gas concentration in unknown ar-eas,and send back regional image information.Jetson NX was used on the hardware platform,and Gmapping algorithm in ROS sys-tem was combined with RT-exploration algorithm with mapping navigation technology.The former was used to build the surround-ing environment,and the latter to generate Exploration paths,so as to realize rapid independent exploration and mapping.TEB algo-rithm is used to complete the remote autonomous navigation of the platform.In addition,laser radar and binocular vision navigation AIDS are used to realize remote environmental data detection and return.In the irregular site with a simulated test scene size of 50m2,the platform could effectively build the map and carry out autonomous navigation within 20s,realizing the monitoring of the site data and image information return.Simulation and test results show that the remote environment awareness platform designed in this paper can complete independent exploration and remote data detection and return,and the algorithm is fast and accurate.
万方数据
维普
