摘要
针对廊道环境的数字重构问题,设计了一种基于单线激光雷达的数字重构系统。该系统利用移动机器人搭载单线激光雷达传感器,构建三维雷达扫描系统,实现廊道环境的自动扫描和实时重构。首先进行系统的硬件搭建,其次详细介绍了系统的数字重构过程,主要包括移动机器人控制模块设计、坐标转换、数据融合等。为了解决移动机器人运动偏离的问题,在控制系统中加入模糊PID(porportion integral differential)控制算法,保证了系统数据采集的准确性。对于2D点云到3D点云的转换的问题,提出了一种里程计数据和激光雷达传感器数据融合的方法。最后进行实验测试。结果表明:该系统可以实现对一般复杂的廊道场景进行自动化采集和实时重构,不仅精度高而且重构特征明显。
Aiming at the problem of digital reconstruction of corridor environment,a digital reconstruction system based on single line lidar was designed.In this system,a mobile robot mounted with single line lidar sensor was used to build a three-dimensional radar scanning system to realize automatic scanning and real-time reconstruction of corridor environment.Firstly,the hardware of the system was built,and then the digital reconstruction process of the system was introduced in detail,including the design of mobile robot control module,coordinate conversion,data fusion,etc.A fuzzy porportion integral differe(PID)control algorithm was added to the control system to solve the problem of mobile robot motion deviation and ensure the accuracy of system data acquisition.For the conversion of 2D point cloud to 3D point cloud,a method of fusion of odometer data and lidar sensor data was proposed.Finally,the experimental test was carried out.The automatic acquisition and real-time reconstruction of general complex corridor scenes can be realized by this system,which not only has high accuracy,but also has obvious reconstruction characteristics.
作者
蒋玉林
杨炯
梁杰
赵建国
JIANG Yu-lin;YANG Jiong;LIANG Jie;ZHAO Jian-guo(College of Mechanical and Power Engineering, Zhengzhou University, Zhengzhou 450001,China)
出处
《科学技术与工程》
北大核心
2021年第15期6368-6372,共5页
Science Technology and Engineering
基金
国家自然科学基金(51705469)
河南省高等学校重点科研项目计划(19A460028)。
