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Received:June 07, 2024 Revised:July 03, 2024
Received:June 07, 2024 Revised:July 03, 2024
中文摘要: 针对现有消防机器人在城区内中远程环境执行火灾救援应急任务时, 难以提前获取全局先验地图, 需人工遥控机器人至灭火地点, 操作繁琐, 影响灭火效率的问题, 设计了一种消防机器人城区内自主导航系统, 系统基于商业电子地图(如高德地图、百度地图等2D电子地图), 有效整合了全球定位系统(GNSS)和局部激光环境感知技术. 首先借助商业电子地图来规划粗略的全局子目标点, 将全局目标点序列与真实定位信息进行数据配准, 然后将序列发送至局部规划器. 之后在激光感知建立的局部栅格地图中, 按照子目标点的顺序执行局部规划任务, 改进型局部规划器在运动过程根据实时环境变化更新子目标点. 在仿真环境中多次模拟并使用履带式小车在实际场景进行验证, 结果表明设计系统可以在事先未建立环境先验地图的情况下, 准确进行室外远距离的导航任务, 可作为消防机器人高效安全户外导航的方案.
Abstract:When firefighting robots are deployed for medium to long-distance emergency tasks in urban areas, they often struggle with the inability to obtain a global prior map of the environment in advance. Consequently, they require manual remote control to reach the fire location, which involves cumbersome operations and significantly reduces firefighting efficiency. To address these issues, this study designs a new autonomous navigation system for firefighting robots in urban areas. This system is based on commercial electronic maps (such as Amap, Baidu Maps, and other 2D electronic maps) and effectively integrates the global navigation satellite system (GNSS) with local laser-based environmental sensing technologies. Firstly, commercial electronic maps are used to plan rough global sub-goal points. The sequence of global goal points is then registered with the actual positioning information and sent to the local planner. Subsequently, local planning tasks are performed within the local grid map established by laser sensing, following the sequence of sub-goal points. The improved local planner updates the sub-goal points dynamically based on real-time environmental changes during movement. Multiple simulations are conducted in a simulated environment, and validation is performed using a tracked vehicle in real-world scenarios. The results indicate that the designed system can accurately execute long-distance outdoor navigation tasks without a global prior map of the environment, providing an efficient and safe solution for the outdoor navigation of firefighting robots.
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基金项目:国家自然科学基金(51975214); 上海市大学生创新创业训练计划(S202310251138); 华东理工大学大学生创新项目(X202310251218)
引用文本:
邱钟毓,尹小恰,陈凯,施晨炜,陈泽华,刘爽.消防机器人城区内自主导航系统.计算机系统应用,,():1-10
QIU Zhong-Yu,YIN Xiao-Qia,CHEN Kai,SHI Chen-Wei,CHEN Ze-Hua,LIU Shuang.Autonomous Navigation System for Firefighting Robots in Urban Areas.COMPUTER SYSTEMS APPLICATIONS,,():1-10
邱钟毓,尹小恰,陈凯,施晨炜,陈泽华,刘爽.消防机器人城区内自主导航系统.计算机系统应用,,():1-10
QIU Zhong-Yu,YIN Xiao-Qia,CHEN Kai,SHI Chen-Wei,CHEN Ze-Hua,LIU Shuang.Autonomous Navigation System for Firefighting Robots in Urban Areas.COMPUTER SYSTEMS APPLICATIONS,,():1-10