RTK与Lidar组合优化机器人导航控制  

Navigation and Control of Robot Optimized by RTK and Lidar Combination

作　　者：李宁[1] LI Ning(Guangxi Technological College of Machinery and Electricty,Guangxi Nanning 530007,China)

机构地区：[1]广西机电职业技术学院,广西南宁530007

出　　处：《机械设计与制造》2021年第11期275-278,共4页Machinery Design & Manufacture

基　　金：吉林省教育科学“十三五”规划重点课题(No.ZD17172)。

摘　　要：针对传统移动机器人导航控制时的灵活性较差,且易受到距离和空间限制的问题,提出了基于RTK系统和激光雷达(Lidar)探测数据相组合的机器人导航控制方法,由RTK系统获得大范围场景的精确定位数据以构建全局地图并通过线性自抗扰控制器进行全局导航,通过激光雷达探测场景内局部小范围的障碍物数据并构建局部地图,并采用聚类分段拟合等算法精确描述障碍物的边缘信息,由改进的人工势场法实现机械人的自动避障。实测数据实验结果表明,所提方法达到厘米级的避障效果。To Solve The problem of that the traditional mobile inspection robot has poor navigation and is limited by distance and space,a robot navigation control method based on high precision RTK/INS Beidou and lidar combination is proposed.In the pro⁃posed method,a global map is built by RTK/INS Beidou output in which the global navigation is done by using PID control meth⁃od,and a partial map is constructed by laser radar detection,in which the edge of the detected obstacles is described by clustering and piecewise fitting,and then,the artificial potential field is used to realize Robotic obstacle avoidance.Measured data experi⁃mental results shouw that the proposed method achieves the obstacle avoidance effect of centimeter level.

关 键 词：机器人导航控制 北斗导航定位 激光雷达 路径规划避障 

分 类 号：TH16[机械工程—机械制造及自动化] TP249[自动化与计算机技术—检测技术与自动化装置]