基于多传感器协同的水下机器人SLAM算法研究  

Research on SLAM Algorithm for Underwater Robots Based on Multi Sensor Collaboration

作　　者：季刚 Ji Gang(Xiamen Ocean Vocational College,Xiamen,Fujian Province,361101)

机构地区：[1]厦门海洋职业技术学院,福建厦门361101

出　　处：《佳木斯大学学报(自然科学版)》2025年第2期50-52,99,共4页Journal of Jiamusi University:Natural Science Edition

基　　金：厦门海洋职业技术学院高层次人才科研专项-水下机器人定位与导航关键技术研究(KYG202204);福建省智慧渔业应用技术协同创新中心项目(XTAZ-ZHYY-1917);厦门市科技局自然科学基金项目(3502Z20227430)。

摘　　要：为了进一步优化水下机器人的探测性能,研究提出了一种基于多传感器协同的水下机器人同步定位与地图构建算法。该过程通过环视声呐设备实现水下环境的环形扫描,结合水下摄像头和超声探测仪完善声呐识别图像。水下机器人以栅格法进行探测环境建模,结合粒子滤波算法对动态运动下的数据信息进行整合,生成水体探测地图,以探测地图指导水下机器人的运行并进行地图更新。研究结果显示,在水下机器人运行过程中,单位时间内研究方法的探测范围高于其它算法。相较于其它算法,研究方法的探测效率提升了10.45%-24.91%,表明研究方法具有更好的探测效果。应用结果显示,研究方法在实景环境中可以明确分辨水域边界,规划出合理的运行线路。因此,研究方法能够为水下机器人的探测提供一个精度较高的地图模型,并实现地图的实时定位与动态优化。In order to further optimize the detection performance of underwater robots,a multi-sensor collaborative algorithm for synchronous positioning and map construction of underwater robots is proposed.This process achieves circular scanning of the underwater environment through surround view sonar equipment,combined with underwater cameras and ultrasonic detectors to improve sonar recognition images.Underwater robots use grid method to model the detection environment,and integrate the data information under dynamic motion with particle filtering algorithm to generate a water detection map,which guides the operation of underwater robots and updates the map.The research results show that during the operation of underwater robots,the detection range of the research method per unit time is higher than other algorithms.Compared to other algorithms,the detection efficiency of the research method has been improved by 10.45%-24.91%,indicating that the research method has better detection performance.The application results show that the research method can clearly distinguish the boundaries of water bodies in real-world environments and plan reasonable operating routes.Therefore,the research method can provide a high-precision map model for the detection of underwater robots,and achieve real-time positioning and dynamic optimization of the map.

关 键 词：水下机器人 环视扫描声纳 水下摄像头 粒子滤波算法 

分 类 号：TN929.3[电子电信—通信与信息系统]