摘要
针对实际月面环境搭建困难以及缺乏月面多样性等问题,为模拟真实的月面仿真环境,开发了月球车多传感器SLAM仿真系统,包括月面环境、月球车和人机交互等多个模块。在基础地形上利用高度图变换生成月面陨石坑,使用随机生成法添加多种月面石块;为模拟多种月面纹理效果,利用纹理映射的方法为合成地形添加纹理;采用光照渲染模拟不同光照条件;搭建了月球车本体,模拟多种传感器数据,可以验证多传感器SLAM算法。测试分析2种典型的视觉SLAM和激光惯性SLAM算法。结果表明:多传感器SLAM仿真系统能够为月球车传感器选型和算法开发提供有效的仿真平台。
In view of the difficulties in building the actual lunar surface environment and the lack of lunar surface diversity,a lunar rover multi-sensor SLAM simulation system with multiple modules such as the lunar surface environment,the lunar rover and the human-machine interaction was developed to simulate the real lunar simulation environment.The craters on the lunar surface were generated using height map transformation on the base terrain,and a variety of lunar surface rocks were added using the random generation method.A variety of lunar surface texture effects were simulated using texture mapping and texture fusion,and different lighting conditions were simulated using light rendering.The lunar rover body was built to simulate a variety of sensor data,which could verify the multi-sensor SLAM algorithm.Two typical visual SLAM and laser inertial SLAM algorithms were tested and analyzed.The results showed that the multi-sensor SLAM simulation system could provide a test platform for lunar rover sensor selection and algorithm development.
作者
范亚娴
陈卫东
董凌峰
王景川
王鹏基
FAN Yaxian;CHEN Weidong;DONG Lingfeng;WANG Jingchuan;WANG Pengji(School of Electronic Information and Electrical Engineering,Shanghai Jiao Tong University,Shanghai 200240,China;Beijing Institute of Control Engineering,Beijing 100190,China)
出处
《载人航天》
CSCD
北大核心
2021年第6期671-680,共10页
Manned Spaceflight
基金
国家自然科学基金(U1813206)
载人航天领域预先研究项目(060601)。
