[1]SONG Rui,FANG Yongchun,LIU Hui.Integrated navigation approach for the field mobile robot based on LiDAR/INS[J].CAAI Transactions on Intelligent Systems,2020,15(4):804-810.[doi:10.11992/tis.202008026]
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Integrated navigation approach for the field mobile robot based on LiDAR/INS

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 15 Number of periods: 2020 4 Page number: 804-810 Column: 吴文俊人工智能科学技术奖论坛 Public date: 2020-07-05
Title:
Integrated navigation approach for the field mobile robot based on LiDAR/INS
Author(s):
SONG Rui;  FANG Yongchun;  LIU Hui
College of Artificial Intelligence, Nankai University, Tianjin 300350, China
Keywords:
mobile robot; SLAM (simultaneous localization and mapping); pose estimation; tightly coupled; nonlinear; inertial navigation; integrated navigation system; data fusion
CLC:
TP242
DOI:
10.11992/tis.202008026
Abstract:
When the mobile robot moves in the large scale field with complex terrain, the motion and environmental characteristics changes dramatically, and the problems of motion distortion in point clouds and the sparse of feature points become prominently. Hence, it is necessary to improve the estimation accuracy of position and states from aspects of the calibration of sensors’ error, wheel-slip and bumpy terrain. The environmental modeling and autonomous navigation of the field mobile robot based on LiDAR/INS (Inertial Navigation System) are studied in this paper. Aiming at the degradation problem of LeGO-LOAM when the vehicle state changes dramatically, the strategy of point cloud feature extraction and sensor fusion are proposed to adapt the motion characteristics of the field mobile robot, the optimization function is composed of IMU pre-integration and scan-to-map of LiDAR, then the state of robot is updated. Finally, the field experiments are implemented when the robot makes a fast turning or steering in limited time, the proposed method are validated to provide more accurate estimation of initial values and states compared to LeGO-LOAM related approaches.
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