激光雷达支持下的无人机自主环境探索及地图构建完整性判别方法研究  

Research on Autonomous Environment Exploration and Map Construction Integrity Discrimination Method for Unmanned Aerial Vehicles Supported by Lidar

作　　者：李红勤[1] LI Hong-qin(The Fourth Geological Team of Guangxi Zhuang Autonomous Region,Nanning 530031,China)

机构地区：[1]广西壮族自治区第四地质队,广西南宁530031

出　　处：《世界有色金属》2023年第21期28-30,共3页World Nonferrous Metals

摘　　要：本文利用激光雷达技术实现无人机的自主探索和地图构建,激光雷达用于全局概率配准,采用SLAM技术结合扩展卡尔曼滤波算法,提高导航状态输出频率,解决无人机自主导航问题。通过数字图像处理的边缘检测方法,将栅格地图转化为灰度图像,提取有效边界,建立地图完整性评估模型。与传统算法不同,本文提出方法不会因为搜索不到边界点而提前终止任务,有效减少了地图构建不完整的风险,实现了无人机的自主探索和环境地图构建。This article utilizes LiDAR technology to achieve autonomous exploration and map construction of unmanned aerial vehicles.LiDAR is used for global probability registration,and SLAM technology combined with extended Kalman filtering algorithm is used to improve the output frequency of navigation status and solve the problem of autonomous navigation of unmanned aerial vehicles.By using edge detection methods in digital image processing,raster maps are transformed into grayscale images,effective boundaries are extracted,and a map integrity evaluation model is established.Unlike traditional algorithms,the proposed method does not terminate tasks prematurely due to the inability to search for boundary points,effectively reducing the risk of incomplete map construction and achieving autonomous exploration of drones and environmental map construction.

关 键 词：激光雷达 无人机 自主环境探索 地图构建 完整性判别 

分 类 号：S223.1[农业科学—农业机械化工程]