隧道安全预警机器人自主导航方法研究

Research on Autonomous Navigation Method of Tunnel Safety Early Warning Robot

摘要:

针对隧道施工环境,设计了一款隧道安全预警机器人,并重点研究其导航系统实现。机器人搭载检测仪器与分析主机,集数据采集、分析、预警于一体,实现隧道巡检的自动化和智能化。分别利用Cartographer算法和自适应蒙特卡洛算法(AMCL)融合雷达、里程计、IMU的数据,实现环境地图的创建与机器人实时定位。采用A*算法和DWA算法实现机器人的全局和局部路径规划,并结合ROS操作系统对其进行实验验证。实验结果表明：在导航定位时,机器人位置误差和航向误差分别小于20 cm和5.5°,能满足实际工程需要,完成自动巡检任务。

Abstract:

Aiming at the tunnel construction environment, a tunnel safety warning robot is designed, and focusing on the realization of its navigation system. The robot is equipped with some detection instruments and an analysis PC to achieve data collection,analysis,and early warning automatically and Intelligently in tunnel inspection.The robot uses the Cartographer algorithm and the adaptive Monte Carlo algorithm (AMCL) to fuse the data of radar, odometer, and IMU and to realize the creation of environmental maps and real-time positioning of the robot. The A* algorithm and the DWA algorithm are used to realize the robot"s global and local path planning, and the ROS operating system is used for experimental verification. The experimental results show that the position error and heading error of the robot are less than 20 cm and 5.5° respectively during navigation and positioning, which can meet actual engineering needs and complete automatic inspection tasks.