基于偏振光传感器的仿鼠脑导航方法  

A Bionic Rat Brain Navigation Method Based on Polarization Sensor

作　　者：褚金奎[1] 佟坤 李金山 张志超 CHU Jinkui;TONG Kun;LI Jinshan;ZHANG Zhichao(Microsystem Research Center,School of Mechanical Engineering,Dalian University of Technology,Dalian 116000,China)

机构地区：[1]大连理工大学机械工程学院微系统研究中心,辽宁大连116000

出　　处：《电光与控制》2023年第3期96-100,共5页Electronics Optics & Control

基　　金：国家自然科学基金(52175265,51675076);国家自然科学基金创新研究群体项目(51621064);中央高校基本科研业务费(DUT21Z D101,DUT21GF308)。

摘　　要：面对长距离复杂场景下的自主移动机器人导航问题,仿生鼠脑的RatSLAM相较传统SLAM更加高效。但完全依赖视觉信息,导致其精度不高、可靠性不足。通过引入天空偏振光定向,高效地提供精准的绝对航向角,可以弥补RatSLAM的不足。设计并搭建了一种偏振光仿鼠脑导航系统及导航实验平台,经过室外道路实验验证了系统的性能,并与RatSLAM进行了比较。实验结果表明,偏振光仿鼠脑导航系统和RatSLAM的平均位置误差分别为3.65 m和26.29 m,平均角度误差分别为0.36°和2.39°。该系统减少了累积误差,实现了高效、强鲁棒性、轻量化的自主导航。For autonomous mobile robot navigation in long-distance complex environments,RatSLAM,which simulates rat brain,is more efficient than traditional SLAM.However,it completely relies on visual information,resulting in its low accuracy and insufficient reliability.By introducing polarization skylight for orientation,which efficiently provides precise absolute heading angles,RatSLAM can be compensated.A polarization skylight bionic rat brain navigation system and an experimental platform are designed.The performance of the system is verified through outdoor road experiments,and is compared with that of the RatSLAM.The experimental results show that the mean position errors of the polarization skylight bionic rat brain navigation system and RatSLAM are respectively 3.65 m and 26.29 m,and the mean angle errors are respectively 0.36° and 2.39°.This system reduces cumulative error and achieves efficient,robust and lightweight autonomous navigation.

关 键 词：实时定位与地图构建 仿生导航 偏振光传感器 RatSLAM 自主移动机器人 

分 类 号：P161.3[天文地球—天文学] U666.1[交通运输工程—船舶及航道工程]