トンネル内自動ロードローラーのための退化耐性UWB-LiDAR融合測位
Anti-degenerated UWB-LiDAR Localization for Automatic Road Roller in Tunnel
トンネル内で退化しやすいLiDAR測位を、非退化方向の拘束とUWB再構成の共分散、内壁特徴抽出を組み合わせて最適化ベースで融合し、実機ロードローラーで精度向上を実証した論文。
著者: Bingqi Shen, Yuyin Chen, Huiyong Yang, Jianbo Zhan, Yichao Sun, Rong Xiong, Shuwei Dai, Yue Wang
分類: cs.RO
原文アブストラクト
The automatic road roller, as a popular type of construction robot, has attracted much interest from both the industry and the research community in recent years. However, when it comes to tunnels where the degeneration issues are prone to happen, it is still a challenging problem to provide an accurate positioning result for the robot. In this paper, we aim to deal with this problem by fusing LiDAR and UWB measurements based on optimization. In the proposed localization method, the directions of non-degeneration will be constrained and the covariance of UWB reconstruction will be introduced to improve the accuracy of localization. Apart from these, a method that can extract the feature of the inner wall of tunnels to assist positioning is also presented in this paper. To evaluate the effectiveness of the proposed method, three experiments with real road roller were carried out and the results show that our method can achieve better performance than the existing methods and can be applied to automatic road roller working inside tunnels. Finally, we discuss the feasibility of deploying the system in real applications and make several recommendations.
