Metody lokalizacji małych pojazdów autonomicznych w pomieszczeniach zamkniętych

• Autorzy: Sobczak Łukasz , Bijok Łukasz

Warianty tytułu

EN

Indoor positioning methods for small autonomous vehicles

• Języki publikacji: PL

Abstrakty

PL

Estymacja swojej pozycji przez pojazdy bezzałogowe jest kluczowa dla pomyślnego przeprowadzania misji rozpoznawczych, zaopatrzeniowych czy ratunkowych w trybie autonomicznym. Wyznaczanie celów i punktów kontrolnych misji pozwala operatorowi platformy, ale również algorytmom decyzyjnym, na podejmowanie odpowiednich działań. W artykule przedstawiono popularne metody lokalizacji wewnątrz pomieszczeń zamkniętych z niedostępnym sygnałem nawigacji GNSS. Potencjał wykorzystania takich technologii, jak UWB, US, INS czy algorytmów SLAM opartych o odczyty z LiDAR-ów lub kamer został omówiony w kontekście małych platform lądowych, które potrafią wykonywać określone zadania w sposób zautomatyzowany. Artykuł omawia również rozwiązania opisywane szczegółowo w cytowanej literaturze związane z tematem fuzji danych z sensorów różnego typu, która zapewnia większą dokładność i niezawodność uzyskiwanych odczytów.

EN

The estimation of their position by unmanned vehicles is crucial for successful reconnaissance, procurement and rescue missions in autonomous mode. Determining goals and mission checkpoints allows the platform operator, and also the decision-making algorithms, to take appropriate actions. The paper presents popular positioning methods in spaces where GNSS navigation signal is not available. The potential of using such technologies as UWB, US, INS or SLAM algorithms based on readings from LiDARs or cameras is discussed in the context of small land platforms that can perform specific tasks in an automated manner. The paper also discusses the solutions described in detail in the cited literature related to the subject of data fusion from various types of sensors, which ensures greater accuracy and reliability of the readings obtained.

Słowa kluczowe

PL

lokalizacja pojazdów; Indoor Position System (IPS); Ultra-Wideband (UWB); Ultrasound (US); Simultaneous Localization and Mapping (SLAM); Inertial Navigation System (INS); Unmanned Ground Vehicle (UGV)

EN

vehicle positioning; Indoor Position System (IPS); Ultra-Wideband (UWB); Ultrasound (US); Simultaneous Localization and Mapping (SLAM); Inertial Navigation System (INS); Unmanned Ground Vehicle (UGV)

• Wydawca: Ośrodek Badawczo – Rozwojowy Urządzeń Mechanicznych „OBRUM” sp. z o. o
• Czasopismo: Szybkobieżne Pojazdy Gąsienicowe
• Rocznik: 2019
• Tom: nr 1(51)
• Strony: 33--48
• Opis fizyczny: Bibliogr. 53 poz., rys.

Twórcy

autor

Sobczak Łukasz

• Ośrodek Badawczo-Rozwojowy Urządzeń Mechanicznych "OBRUM" sp z o.o., Gliwice

autor

Bijok Łukasz

• Siles Labs Sp. z o.o., Gliwice

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Uwagi

Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2019).