【摘要】 针对目前救援机器人在崎岖不平的地形中使用激光雷达构建的二维地图精度低、错误率高、不完整等问题,提出一种基于激光雷达云台的救援机器人定位建图系统。该系统通过IMU实时获取机器人在三维空间中的旋转角速度及加速度,计算得到机器人实时的姿态,即机器人的横滚角、俯仰角及偏航角,并通过两个高灵敏度的舵机,在两个自由度方向实时调整激光雷达的姿态,使激光雷达保持水平。在该系统下,可复用在平地中使用的同步定位与建图算法,在崎岖不平的地面上完成建图任务。实验表明,该系统效果显著,与现有方法相比,该方法实现简单、成本低廉,可快速应用于现有的移动机器人中,快速实现其在复杂地形下进行建图的能力。更多还原

【Abstract】 Aiming at the problems of low accuracy, high error rate and incompleteness of the 2 D map constructed by the current rescue robot using lidar in rugged terrain,this paper proposes a rescue robot SLAM system based on the lidar gimbal.The system obtains the robot’s rotational angular velocity and acceleration in three-dimensional space in real time through IMU,and calculates the robot’s real-time pose,namely the robot’s roll angle,pitch angle and yaw angle,and passes through two highly sensitive servos.Adjust the pose of the lidar in real time in the directions of two degrees of freedom to keep the lidar horizontal.Under this system,the simultaneous localization and mapping algorithms used in flat ground can be reused to complete mapping tasks on rugged ground.Experiments show that the system has significant effects.Compared with the existing methods,this method is simple to implement and low in cost,and can be quickly applied to existing mobile robots to quickly realize its ability to build maps under complex terrain.更多还原