School of Marine Science and Technology,Northwestern Polytechnical University,Xi’an 710072 ,China 在期刊界中查找 在百度中查找 在本站中查找
Affiliation:
Fund Project:
摘要
|
图/表
|
访问统计
|
参考文献 [26]
|
相似文献 [20]
|
引证文献
|
资源附件
|
文章评论
摘要:
对自主水下航行器定位与建图进行了研究。分析了 SLAM 的算法原理,采用 BlueROV2 和声呐、 DVL、IMU 搭建了实验平台,并选择合适的算法框架完成了完整的算法设计。使用声呐为主要感知单元完成自主水下航行器的 SLAM 实验,并对声呐数据的杂波、野值、虚警等进行了滤波处理。最后,在水池、湖泊试验中对所研究的 SLAM 算法的定位与建图进行了验证,取得了良好的试验结果。
This paper studies the positioning and mapping of autonomous underwater vehicles. The principle of SLAM algorithm is analyzed,the experimental platform is built with BlueROV2,sonar,DVL and IMU,and the appropriate algorithm framework is selected to achieve the complete algorithm design. Sonar,as the main sensing unit,is used to complete the SLAM experiment of autonomous underwater vehicles,and the clutter,outliers and false alarms of sonar data are filtered. In the pool and lake test,the positioning and mapping algorithm of the studied SLAM algorithm are verified,and good test results are obtained.
[4] LEE J G,PARK C G,PARK H W.Multiposition alignment of strapdown inertial navigation system[J].IEEE Transactions on Aerospace and Electronic systems,1993,29(4):1323-1328.
[8] KLIPPENSTEIN J,ZHANG H.Quantitative evaluation of feature extractors for visual SLAM[C]//Conference on Computer & Robot Vision.US:IEEE,2007.
[9] ENGELHARD N,ENDRES F,HESS J,et al.Real-time 3D visual SLAM with a hand-held RGB-D camera[C]//Proc.of the RGB-D Workshop on 3D Perception in Robotics at the European Robotics Forum.Vasteras:Association for Computing Machinery,2011.
[12] HESS W,KOHLER D,RAPP H,et al.Real-time loop closure in 2D LIDAR SLAM[C]//2016 IEEE International Conference on Robotics and Automation(ICRA).US:IEEE,2016.
[13] HENING S,IPPOLITO C A,KRISHNAKUMAR K S,et al.3D LIDAR SLAM integration with GPS/INS for UAVs in urban GPS-degraded environments[C]//AIAA Information Systems-AIAA Infotech @ Aerospace.US:AIAA,2017.
[14] MORENO L,GARRIDO S,BLANCO D,et al.Differential evolution solution to the SLAM problem[J].Robotics and Autonomous Systems,2009,57(4):441-450.
[17] XIAO G D,WANG B,DENG Z H.An acoustic communication time delays compensation method for master-slave AUV cooperative navigation[J].IEEE Sensors Journal,2016,12(99):1-1.
[18] KALMAN R E.A new approach to linear filtering and prediction problems[J].Journal of Basic Engineering Transactions,1960,82(1):35-46.
[19] AHN S H,CHOI J W,DOH N L,et al.A practical approach for EKF-SLAM in an indoor environment:fusing ultrasonic sensors and stereo camera[J].Autonomous Robots,2008,24(3):315-335.
[20] CHEN L R.Sequential Monte Carlo methods for dynamic systems[J].Journal of the American Statistical Association,1998,93(443):1032-1044.
[21] KITAGAWA G.Monte Carlo filter and smoother for non-Gaussian nonlinear state space models[J].Journal of Computational & Graphical Statistics,1996,5(1):1-25.
[22] THRUN S,KOLLER D,GHAHRAMANI Z,et al.Simultaneous mapping and localization with sparse extended information filters:theory and initial results[J].Algorithmic of Robotics V,2004,7(2):363-380.
[23] JULIER S,UHLMANN J,DURRANT-WHYTE H F.A new method for the nonlinear transformation of means and covariances in filters and estimators[J].IEEE Trans Automatic Control,2000,14(5):51-59.
[24] LOURAKIS M I A.SBA:A software package for generic sparse bundle adjustment[J].Acm Trans.math.softw,2009,36(1):2-7.
[25] CARLEVARIS B N,KAESS M,EUSTICE R M.Generic node removal for factor-graph SLAM[J].IEEE Transactions on Robotics,2014,30(6):1371-1385.
[26] DELLAERT F.Factor graphs,Bayes trees and preconditioning for SLAM and SFM[J].Fisheries Management & Ecology,2003,10(10):377-384.