基于位姿阈值的Cartographer SLAM算法实验设计  

Experiment design of Cartographer SLAM algorithm based on pose threshold

作　　者：安翠娟 王旭 丁大伟[1] AN Cuijuan;WANG Xu;DING Dawei(School of Automation and Electrical Engineering,University of Science and Technology Beijing,Beijing 100083,China;AECC Beijing Institute of Aeronautical Materials,Beijing 100095,China)

机构地区：[1]北京科技大学自动化学院,北京100083 [2]北京航发北京航空材料研究院,北京100095

出　　处：《实验室科学》2023年第2期65-71,共7页Laboratory Science

基　　金：国家自然科学基金(项目编号62173029);北京科技大学本科教育教学改革项目(项目编号JG2020M23)。

摘　　要：针对Cartographer算法回环检测耗时、实时性差的问题,采用软硬件结合的方式,设计了一种基于位姿阈值的Cartographer SLAM算法实验。依托Clearpath Jackal无人车和ROS软件操作系统,搭建了实验硬件平台,采用Cartographer SLAM和位姿阈值优化算法设计了软件操作流程。实验结果表明,Cartographer SLAM算法可获取无人车实时位姿,构建清晰的实验室地图;位姿阈值优化算法有效地剔除了回环检测时的冗余信息,提升了计算效率和实时性。该实验加深了学生对Cartographer SLAM算法的认知,激发了学生对无人车及人工智能等技术的学习兴趣,提高了学生的工程实践能力和创新能力。Cartographer algorithm suffers from time-consuming problem of loop closure detection as well as poor real-time property.Aiming at these problems,an experiment of Cartographer SLAM algorithm based on pose threshold is designed by combining software and hardware.Rely on Clearpath Jackal unmanned vehicle and Robot Operating System(ROS),the experiment hardware platform is built,Cartographer SLAM algorithm and pose threshold optimization algorithm are adopted to design the software operation process.Experiment results show that the Cartographer SLAM algorithm can obtain the positional posture of the unmanned vehicle in real-time,and build a clear real map of laboratory.The pose threshold optimization algorithm efficiently solves the time-consuming problem of loop closure detection,and improves the computational efficiency and the real-time performance compared with the original Cartographer algorithm.The practical teaching shows that students’cognition of the Cartographer SLAM algorithm is deepened,their study interest in the unmanned vehicle and artificial intelligence is inspired,and their abilities of engineering practice and innovation are also improved with the help of the designed experiment.

关 键 词：无人车 Cartographer SLAM算法 位姿阈值 实验设计 

分 类 号：G482[文化科学—教育学]