月球车多传感器SLAM仿真系统  

A Multi-Sensor SLAM Simulation System for Lunar Rover

作　　者：范亚娴 陈卫东[1] 董凌峰 王景川[1] 王鹏基[2] 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)

机构地区：[1]上海交通大学电子信息与电气工程学院,上海200240 [2]北京控制工程研究所,北京100190

出　　处：《载人航天》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)。

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.

关 键 词：月面环境 月球车 多传感器 SLAM Gazebo ROS 

分 类 号：V476􀆰[航空宇航科学与技术—飞行器设计] TP391[自动化与计算机技术—计算机应用技术]