激光雷达性能参数对轮式机器人建图质量影响研究  

Study on the influence of lidar performance parameters on the quality of wheeled robot mapping

作　　者：崔佳慧 姜延欢 张昱 吴娅辉[1] CUI Jiahui;JIANG Yanhuan;ZHANG Yu;WU Yahui(Changcheng Institute of Metrology&Measurement,National Key Laboratory of Science and Technology on Metrology&Calibration,Aviation Key Laboratory of Science and Technology on Dynamic Testing and Calibration,Beijing,100095,China)

机构地区：[1]航空工业北京长城计量测试技术研究所计量与校准技术重点实验室动态测试与校准技术航空科技重点实验室,北京100095

出　　处：《计测技术》2023年第2期1-9,共9页Metrology & Measurement Technology

基　　金：国家“十四五”技术基础项目(KBC52102580);航空计量所创新基金项目(ZC02201580)。

摘　　要：针对轮式机器人系统环境建图精度低的问题,基于轮式机器人运动学模型、传感器模型和融合算法等理论及分析,建立轮式机器人系统模型,通过仿真实验综合分析激光雷达性能参数(视场角、角分辨率)对环境建图过程中轮式机器人位姿及建图质量的影响规律。研究发现,随着时间变化,x坐标轴和y坐标轴方向的位置不确定性曲线呈现周期下降趋势,角度误差呈现出围绕一个值上下振荡的趋势;随着激光雷达视场角的增大,曲线震荡减少,且更趋于平滑,同时建图结果的白色边界更加清晰且完整;随着激光雷达的角分辨率增大,曲线震荡增多,且振幅更大,同时建图结果的白色边界更加模糊,精度更低。因此,可通过增大激光雷达视场角、减小角分辨率提高机器人系统环境建图精度。This article mainly aims at the problem of low accuracy of environmental mapping of wheeled robot sys⁃tem.Based on the theoretical and analytical research of wheeled robot kinematics model,sensor model and fusion algorithm,the model of wheeled robot system is established.Finally,through the simulation experiment,the impact of the performance parameters of laser radar(field of view,angular resolution)on the position and pose of wheeled robot and the quality of mapping during the environmental mapping process is comprehensively analyzed.It is found that the position uncertainty curve in the direction of the x and y coordinate axes shows a periodic downward trend with time,and the angle error shows a trend of oscillation up and down around a value.As the angle of view of the lidar increases,the curve oscillation decreases and tends to be smoother,and the white boundary of the mapping results becomes clearer and more complete.As the angular resolution of the lidar increases,the curve oscillations increase,and the amplitude is larger.At the same time,the white boundary of the mapping results is more blurred,and the accuracy is lower.Therefore,the accuracy of robot system environment mapping can be improved by increasing the angle of view of the lidar and reducing the angular resolution.

关 键 词：轮式机器人 扩展卡尔曼滤波 位姿 建图 仿真 

分 类 号：TB96[机械工程—光学工程]