信息与控制2023，Vol.52Issue(6)：711-724,14.DOI:10.13976/j.cnki.xk.2023.2433
在排水箱涵中基于激光雷达的无人艇自主导航
Autonomous Navigation in Drainage Box Culvert Based on Lidar for Unmanned Surface Vehicle
摘要
Abstract
We present a method for autonomous lidar-based navigation of an unmanned surface vehicle(USV)through plane fitting in an underground drainage box culvert,where the satellite and ground communication signals are limited,and lighting conditions are poor.The scenario model of the underground drainage box culvert is built based on the lidar imaging principle.To address the problem of the lidar point cloud in the box culvert being disturbed by the reflection of water waves,an improved eigenvalue-based plane fitting method is proposed,which effectively filters out the point cloud noise and obtains appropriate plane parameters.The virtual horizontal plane is used to calculate the relative positions of the USV and wall on both sides of the box culvert using the fitted plane parameters,and the desired route is planned.Based on the scenario model,simulation is conducted by using the LOS guidance law and a PD heading controller.The results show that the proposed method achieves high fitting accuracy at a low computational cost and that the determined navigation parameters are accurate and stable,allowing the USV to navigate autonomously along the center line of the box culvert.Experiments are used to validate the effectiveness and feasibility of the proposed method.关键词
无人艇/排水箱涵/激光雷达/平面拟合/自主导航Key words
unmanned surface vehicle(USV)/drainage box culvert/lidar/plane fitting/autonomous navigation分类
交通工程引用本文复制引用
谢志刚,王建华,郑翔,田雨,钱建华,钱国虎,吴奇文,徐伟..在排水箱涵中基于激光雷达的无人艇自主导航[J].信息与控制,2023,52(6):711-724,14.基金项目
国家自然科学基金(61703272) （61703272）
