基于3D-NDT的移动机器人定位算法研究  

Localization Algorithm of Outdoor Mobile Robot Based on 3D-NDT

作　　者：杨奇峰 曲道奎[1,2,4] 徐方[1,2,4] YANG Qi-feng;QU Dao-kui;XU Fang(State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110169,China;University of Chinese Academy of Sciences,Beijing 100049,China;Shenyang SIASUN Robot&Automation Co.,Ltd,Shenyang 110168,China)

机构地区：[1]中国科学院沈阳自动化研究所机器人学国家重点实验室,辽宁沈阳110016 [2]中国科学院机器人与智能制造创新研究院,辽宁沈阳110169 [3]中国科学院大学,北京100049 [4]沈阳新松机器人自动化股份有限公司,辽宁沈阳110168

出　　处：《控制工程》2020年第4期613-619,共7页Control Engineering of China

基　　金：国家自然科学基金资助项目(U1608253)。

摘　　要：移动机器人定位是移动机器人自主导航的基本问题,在室外环境,GPS作为成熟方案被广泛使用,但在存在遮挡、有强电磁干扰等环境下,GPS定位的精度、稳定性及可靠性受到很大影响。本文详细阐述了三维激光点云3D-NDT匹配方法,在此基础上提出了融合里程计与3D-NDT点云匹配方法的移动机器人实时定位方法,解决了移动机器人在室外弱GPS环境下定位精度无法保证的问题。利用自主研发的移动机器人平台,在大范围室外环境中进行了测试,实验结果验证了本文所提算法的有效性。Mobile robot autonomous localization is the basic problem of the robot navigation.In the outdoor environment,GPS is a general method to get accuracy position,but,the accuracy,stability and reliability of GPS positioning are greatly affected by the existence of the shelter,in this paper,the kinematic model of mobile robot and the calculation method of its odometer are given,At the same time,the 3 D laser point cloud 3 D-NDT matching method is expounded in detail.And the method merging the odometer and the3 D-NDT is presented.A series of experiments are conducted with a self-designed mobile robot platform in large-scale outdoor environments,and the experimental results show the validity and effectiveness of the proposed approach.

关 键 词：移动机器人 里程计 3D-NDT 定位 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]