工程设计学报2023，Vol.30Issue(6)：678-686,9.DOI:10.3785/j.issn.1006-754X.2024.03.161
基于优化Hector-SLAM算法的机器人自主导航系统设计
Design of robot autonomous navigation system based on optimized Hector-SLAM algorithm
摘要
Abstract
Aiming at the problems of inaccurate positioning,low mapping accuracy and error accumulation of robots in complex terrain environments,an autonomous navigation system based on optimized Hector-SLAM(simultaneous localization and mapping)algorithm is designed,which ensures that the robot reaches the target point accurately while avoiding obstacles promptly.Firstly,the bicubic interpolation method was used to replace the original interpolation method to solve the problem of map blurring when the Hector-SLAM algorithm was used to build maps with low-precision lidar data,so as to improve the accuracy of scan matching.Secondly,the extended Kalman filter algorithm was used to fuse the data of odometer and inertial measurement unit,which could improve the positioning accuracy.Thirdly,in view of the problem of motion distortion caused by the inability to obtain instantaneous laser point data and the continuous movement of robot,the odometer auxiliary method and PL-ICP(point to line iterative closest points)registration method were combined to realize the correction of motion distortion.At the same time,the tilt angle threshold was set to eliminate the map ghosting,and the optimal path was planned by using A* algorithm and dynamic window approach.Finally,taking AGV(automated guided vehicle)as an example,the mapping experiments and autonomous navigation experiments were carried out in actual scenarios.The results showed that the average mapping relative error of the optimized autonomous navigation system was about 0.44%,and the minimum mapping error was 0.236 m,which was 0.041 m less than that before optimization.It effectively solved the problem of unclear mapping caused by error accumulation and motion distortion,and enhanced the adaptability of AGV in complex terrain environment,so as to achieve high-precision positioning.The research results have certain theoretical and engineering significance for improving the autonomous navigation ability of mobile robots in indoor multi-obstacle environment.关键词
Hector-SLAM(实时定位与建图)/双三次插值法/运动畸变/消除重影/自主导航Key words
Hector-SLAM(simultaneous localization and mapping)/bicubic interpolation method/motion distortion/ghosting elimination/autonomous navigation分类
机械制造引用本文复制引用
汪建华,黄磊,石雨婷,张晓倩,祁良剑..基于优化Hector-SLAM算法的机器人自主导航系统设计[J].工程设计学报,2023,30(6):678-686,9.基金项目
国家自然科学基金资助项目(31901239) （31901239）
南京林业大学 2023 年大学生创新训练计划项目(2023NFUS-PITP0066) （2023NFUS-PITP0066）
