DynaFusion-SLAM: Multi-Sensor Fusion and Dynamic Optimization of Autonomous Navigation Algorithms for Pasture-Pushing Robot.

Aiming to address the problems of fewer related studies on autonomous navigation algorithms based on multi-sensor fusion in complex scenarios in pastures, lower degrees of fusion, and insufficient cruising accuracy of the operation path in complex outdoor environments, a multimodal autonomous navigation system is proposed based on a loosely coupled architecture of Cartographer-RTAB-Map (real-time appearance-based mapping). Through laser-vision inertial guidance multi-sensor data fusion, the system achieves high-precision mapping and robust path planning in complex scenes. First, comparing the mainstream laser SLAM algorithms (Hector/Gmapping/Cartographer) through simulation experiments, Cartographer is found to have a significant memory efficiency advantage in large-scale scenarios and is thus chosen as the front-end odometer. Secondly, a two-way position optimization mechanism is innovatively designed: (1) When building the map, Cartographer processes the laser with IMU and odometer data to generate mileage estimations, which provide positioning compensation for RTAB-Map. (2) RTAB-Map fuses the depth camera point cloud and laser data, corrects the global position through visual closed-loop detection, and then uses 2D localization to construct a bimodal environment representation containing a 2D raster map and a 3D point cloud, achieving a complete description of the simulated ranch environment and material morphology and constructing a framework for the navigation algorithm of the pushing robot based on the two types of fused data. During navigation, the combination of RTAB-Map's global localization and AMCL's local localization is used to generate a smoother and robust positional attitude by fusing IMU and odometer data through the EKF algorithm. Global path planning is performed using Dijkstra's algorithm and combined with the TEB (Timed Elastic Band) algorithm for local path planning. Finally, experimental validation is performed in a laboratory-simulated pasture environment. The results indicate that when the RTAB-Map algorithm fuses with the multi-source odometry, its performance is significantly improved in the laboratory-simulated ranch scenario, the maximum absolute value of the error of the map measurement size is narrowed from 24.908 cm to 4.456 cm, the maximum absolute value of the relative error is reduced from 6.227% to 2.025%, and the absolute value of the error at each location is significantly reduced. At the same time, the introduction of multi-source mileage fusion can effectively avoid the phenomenon of large-scale offset or drift in the process of map construction. On this basis, the robot constructs a fusion map containing a simulated pasture environment and material patterns. In the navigation accuracy test experiments, our proposed method reduces the root mean square error (RMSE) coefficient by 1.7% and Std by 2.7% compared with that of RTAB-MAP. The RMSE is reduced by 26.7% and Std by 22.8% compared to that of the AMCL algorithm. On this basis, the robot successfully traverses the six preset points, and the measured X and Y directions and the overall position errors of the six points meet the requirements of the pasture-pushing task. The robot successfully returns to the starting point after completing the task of multi-point navigation, achieving autonomous navigation of the robot.