现代信息科技2026，Vol.10Issue(17)：83-88,6.DOI:10.19850/j.cnki.2096-4706.2026.17.015
基于ROS2与多传感器融合的室外无人车自主导航系统设计与实现
Design and Implementation of an Outdoor Unmanned Ground Vehicle Autonomous Navigation System Based on ROS2 and Multi-sensor Fusion
摘要
Abstract
To address the positioning drift caused by illumination interference and accumulated errors in wheel odometry in outdoor unmanned ground vehicles,this paper designs and implements a multi-sensor fusion autonomous navigation system based on the ROS2 distributed framework.The system adopts the Extended Kalman Filter(EKF)algorithm to fuse data from the IMU,wheel encoders,and LiDAR,and establishes a unified coordinate frame to suppress positioning drift.Combined with LiDAR SLAM,the system constructs a grid map and employs the ROS2 Nav2 navigation stack to achieve multi-waypoint queued autonomous navigation and dynamic obstacle avoidance.Through targeted engineering constraints and parameter tuning strategies,the system effectively overcomes filter divergence and particle degeneracy in bumpy outdoor environments.Experimental results show that the system produces clear maps,operates smoothly during navigation,and demonstrates good stability and dynamic adaptability.关键词
ROS2/多传感器融合/SLAM/自主导航Key words
ROS2/multi-sensor fusion/SLAM/autonomous navigation分类
信息技术与安全科学引用本文复制引用
阳领,杨禄,陈圣明,廖育任,夏佳康..基于ROS2与多传感器融合的室外无人车自主导航系统设计与实现[J].现代信息科技,2026,10(17):83-88,6.基金项目
湖南省教育科学研究工作者协会"十四五"规划2024年度课题(XJKX24B195) （XJKX24B195）
教育部供需对接就业育人项目(2024112853590) （2024112853590）
