Centre for Automation and Robotics UPM-CSIC, Universidad Politécnica de Madrid, 28006 Madrid, Spain.
Sensors (Basel). 2023 Feb 21;23(5):2371. doi: 10.3390/s23052371.
In this work, we present the design, implementation, and simulation of a topology-based navigation system for the UX-series robots, a spherical underwater vehicle designed to explore and map flooded underground mines. The objective of the robot is to navigate autonomously in the 3D network of tunnels of a semi-structured but unknown environment in order to gather geoscientific data. We start from the assumption that a topological map has been generated by a low-level perception and SLAM module in the form of a labeled graph. However, the map is subject to uncertainties and reconstruction errors that the navigation system must address. First, a distance metric is defined to compute node-matching operations. This metric is then used to enable the robot to find its position on the map and navigate it. To assess the effectiveness of the proposed approach, extensive simulations have been carried out with different randomly generated topologies and various noise rates.
在这项工作中，我们展示了一个基于拓扑的导航系统的设计、实现和模拟，该系统针对 UX 系列机器人，这是一种设计用于探索和绘制淹没地下矿山的球形水下机器人。机器人的目标是在半结构化但未知的环境中的隧道 3D 网络中自主导航，以收集地球科学数据。我们假设拓扑图已经由低级感知和 SLAM 模块以标记图的形式生成。然而，地图存在不确定性和重建误差，导航系统必须解决这些问题。首先，定义了一个距离度量来计算节点匹配操作。然后，该度量用于使机器人能够找到其在地图上的位置并进行导航。为了评估所提出方法的有效性，已经使用不同的随机生成拓扑和各种噪声率进行了广泛的模拟。
