基于激光雷达的牧场巡检机器人定位与建图算法设计
Design of location and mapping algorithm of pasture inspection robot based on LiDAR
高金喆 1寇志伟 2孔哲 1景高乐 1马佳音 1许寒琪1
作者信息
- 1. 内蒙古工业大学电力学院,呼和浩特市,010051
- 2. 内蒙古工业大学电力学院,呼和浩特市,010051;内蒙古自治区机电控制重点实验室,呼和浩特市,010051;大规模储能技术教育部工程研究中心,呼和浩特市,010051
- 折叠
摘要
针对牧场巡检机器人定位精度和鲁棒性低、建图精度和稳定性差的问题,提出一种基于激光雷达测距和测绘技术与改进LOAM-SLAM算法的LOM-SLAM算法.LOM-SLAM算法在LOAM-SLAM算法的基础上将SLAM分解为运动估计和地图构建两个过程,利用激光雷达的高精度测距和测绘技术,实现同时进行机器人的定位和地图构建,从而提高定位与建图的精度,提高鲁棒性和稳定性.将LOM-SLAM搭载在麦轮结构的巡检机器人上进行试验验证.结果表明:在位姿估计试验中,LOM-SLAM算法的绝对轨迹误差(ATE)和相对位姿误差(RPE)的RMSE值分别仅为7.28 m和2.23m,均低于对比算法.在定位与建图试验中,当巡检机器人分别以0.2 m/s、0.5 m/s、1 m/s的速度运动时,LOM-SLAM的定位误差分别为0.12 m、1 m、1.2 m,具有更好的定位精度和稳健性.
Abstract
Aiming at the problems of low positioning accuracy and robustness,as well as poor precision and stability in mapping for pasture inspection robots,a novel LOM-SLAM algorithm based on LiDAR ranging and mapping technology and improved LOM-SLAM algorithm is proposed.This algorithm is derived from an enhanced LOAM-SLAM algorithm,which integrates laser range finding and surveying technology.LOM-SLAM decomposes SLAM into two separate processes such as motion estimation and map construction.By leveraging the high precision of laser range finding and surveying technology,LOM-SLAM achieves simultaneous robot localization and map building,thereby enhancing the accuracy,robustness,and stability of both positioning and mapping.LOM-SLAM was installed on a designed inspection robot with Mecanum wheel structure for test verification.The results showed that in pose estimation tests,LOM-SLAM significantly outperformed other methods in terms of relative pose error(RPE)and absolute trajectory error(ATE),with RMSE values of just 7.28 m and 2.23 m,respectively,which were lower than the comparative algorithms.In the positioning and mapping tests,with the inspection robot moving at speeds of 0.2 m/s,0.5 m/s,and 1 m/s,the positioning errors of LOM-SLAM were only 0.12 m,1 m,and 1.2 m,respectively,demonstrating better positioning accuracy and robustness compared to the comparative algorithms.
关键词
巡检机器人/激光雷达/改进SLAM/牧场环境/定位与建图Key words
inspection robots/LiDAR/improved SLAM/pastoral environment/positioning and mapping引用本文复制引用
基金项目
内蒙古自治区自治区级大学生创新创业训练计划(S202310128023)
内蒙古自治区高等学校科研项目(NJZY21311)
出版年
2024
国家科技期刊平台
NSTL
维普
万方数据