通信与信息技术Issue(2)：1-5,5.
多模态感知自主决策哨卫系统
Multi-modal perception autonomous decision-making sentry system
摘要
Abstract
This study presents a self-developed reconnaissance robot designed to investigate LiDAR-based mapping and the opera-tional dynamics of tracked robots on sloped terrains.We developed an improved noise reduction algorithm for LiDAR systems,enhancing anti-interference capability by 15.17%in rainy and foggy environments.Through systematic analysis of varied terrains and slope angles,we established a physical mechanics model to optimize the chassis motor control algorithm.This innovation enables proactive compensa-tion between centrifugal force during steering and gravitational components on inclines,effectively suppressing sideslip instability.Exper-imental results demonstrate significant improvements in terrain adaptability and autonomous navigation performance,particularly in com-plex environments with steep slopes and challenging ground conditions.The research provides critical technical support for enhancing mo-bile robot stability and operational reliability in adverse field scenarios.ts.关键词
电子信息/噪点算法/机器人/自动巡航/底盘电机算法Key words
Electronic information/Noise reduction algorithm/Robot/Autonomous navigation/Chassis motor control algorithm分类
信息技术与安全科学引用本文复制引用
廖干洲,曾霞,邓东政,洪泽强,郭非凡,陈灿文..多模态感知自主决策哨卫系统[J].通信与信息技术,2026,(2):1-5,5.基金项目
2024年大学生创新创业训练计划国家级项目(项目编号:202413657005)2023年度广州应用科技学院校级教学团队(项目编号:2023TD009)2020年广东省高等学校特色创新项目(项目编号:2020KTSCX197) （项目编号:202413657005）
