Supervisor:
Southwest Ordnance Industry Bureau
Organizer:
Chongqing Ordnance Industry Society
Chongqing University of Technology
Chongqing University of Technology
Research on SLAM system of unmanned ammunition supply vehicle based on the fusion of lidar and IMU
| DOI: | 10.11809/bqzbgcxb2024.05.028 |
| Keywords: | laser SLAM; unmanned driving; multi sensor fusion; inertial measurement unit; pose optimization |
| Abstract: | To address the issues of low accuracy and slow efficiency in single sensor mapping, IMU is integrated into the laser radar SLAM algorithm. Firstly, the hand eye calibration method is used to calibrate the external parameters of the two sensor coordinate systems, achieving the alignment of the sensors in time and space. Then, combined with graph optimization model, the drift phenomenon generated during the mapping process was solved, and IMU was integrated into the LiDAR LEGO LOAM algorithm. Finally, an unmanned ammunition supply vehicle SLAM experimental platform was built in an outdoor scene, and mapping and positioning experiments were conducted before and after the LeGO LOAM fusion IMU algorithm. The results show that the SLAM algorithm fused with IMU significantly improves the accuracy of mapping and positioning, meeting the performance requirements of unmanned ammunition supply vehicle mapping and positioning in unknown environments. |
| Published: | 2024-05-31 |