Traversability for Search and Rescue Robot Based on Terrain Prediction and Correction
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摘要: 针对搜救机器人的自主导航问题，提出了一种新的可通过度计算算法．文中定义的可通过度包含预测可通过度和实时可通过度两个部分．通过图像处理的方法计算前方地面的粗糙度和起伏度从而得到预测可通过度，机器人向可通过度最大的区域运动，在运动过程中通过测量车体的姿态变化率和履带与地面的打滑度来修正预测可通过度对机器人的导引带来的偏差，并通过旋转式超声测距数据获取距离信息，去除障碍物对纹理信息的干扰．野外条件下的实际运行实验证明了该导航算法的有效性．Abstract: A new algorithm for computing traversability of search and rescue robot is presented based on terrain prediction and correction to realize autonomous navigation.The traversability in this paper includes pre-traversability and real-time traversability.The pre-traversability is obtained by calculating terrain roughness and waviness in front of the robot with image processing methods,and the robot will follow a trace with maximum pre-traversability.During the running time,the posture variations of robot and the slip between the track and ground are measured to correct the robot navigation errors caused by pre-traversability.The revolving ultrasonic-rangefinder is used to get the distance information and avoid influence of obstacles on texture information.The field experiment demonstrates the effectiveness of this navigation algorithm.
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Keywords:
- search and rescue robot /
- traversability /
- texture analysis /
- autonomous navigation
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