Design of Dual-LiDAR High Precision Natural Navigation System

被引：10

作者：

Zhang, Hao ^{[1
]}

Yu, Lei ^{[1
,2
]}

Fei, Shumin ^{[3
]}

机构：

[1] Soochow Univ, Sch Mech & Elect Engn, Suzhou 215000, Peoples R China

[2] Zhejiang Univ, State Key Lab Comp Aided Design & Comp Graph, Hangzhou 310058, Peoples R China

[3] Southeast Univ, Sch Automat, Nanjing 210000, Peoples R China

来源：

IEEE SENSORS JOURNAL | 2022年 / 22卷 / 07期

基金：

中国国家自然科学基金;

关键词：

Navigation; Laser radar; Simultaneous localization and mapping; Sensors; Logistics; Costs; Warehousing; Natural navigation; 2D Lidar-SLAM; real-time correction; ROS; SIMULTANEOUS LOCALIZATION; MOBILE ROBOTS; SLAM; VERSATILE; ROBUST;

D O I：

10.1109/JSEN.2022.3153900

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

With the further development of online shopping and the impact of the COVID-19 pandemic, the logistics industry has further increased the demand for unmanned, automated warehousing and logistics handling. To realize intelligent warehousing and logistics handling, reliable positioning navigation technology is indispensable. Therefore, this paper designs a Dual-lidar high-precision natural navigation system based on the ROS (Robot Operating System) platform, which can fulfill the basic warehousing and logistics requirements. The natural navigation system uses the Lidar-SLAM method based on graph optimization to construct the 2D environment map, the PF (Particle Filter) algorithm in MRPT (Mobile Robot Programming Toolkit) is used for system positioning, and the real-time correction algorithm is used for motion control. On the built hardware platform, the navigation system completed the fixed-point cruise navigation task, and finally achieved a navigation accuracy of 4 cm and an average repeatable navigation accuracy of 6 mm. The designed navigation system has reference significance for multi-sensor fusion navigation. In reality, it can be applied to the transportation of warehousing and logistics, and it is expected to be mass-produced in the future.

引用

页码：7231 / 7239

页数：9

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