陈凯翔 1,2,4刘冉 1,2,4,*赵宾 3肖宇峰 1,2,4[ ... ]邓天睿 1,2,4
作者单位
摘要
1 西南科技大学信息工程学院,四川 绵阳 621000
2 中国船舶航海保障技术实验室,天津 300131
3 天津航海仪器研究所,天津 300131
4 特殊环境机器人技术四川省重点实验室,四川 绵阳 621000
轮式里程计在复杂不平的地形和光滑的地面上性能较差,传统的激光扫描匹配方法并不总是正确地建立点云之间的对应关系,容易出现点与点之间的异常关联,导致定位精度较差。针对这一问题,提出一种基于方向端点的激光扫描匹配方法。首先,从环境中提取直线端点作为特征点,通过端点间的特征匹配得到相邻时刻移动机器人的相对位姿关系。基于端点的匹配方法在特征点较少时有可能会产生误匹配,为进一步提高匹配精度,利用端点的方向剔除误匹配的特征点。在此基础之上,利用迭代最近邻法进一步优化方向端点的匹配结果,得到更加精准的移动机器人位姿。实验结果表明,所提方法在7 m×7 m的室内光滑地面环境中,能够达到0.12 m的平均定位误差以及1.18°的平均角度误差,与传统的激光扫描匹配方法相比精度更高。
移动机器人定位 激光扫描匹配 特征匹配 激光里程计 
激光与光电子学进展
2024, 61(4): 0428010
Author Affiliations
Abstract
1 Institute for Electric Light Sources, School of Information Science and Technology, Engineering Research Center of Advanced Lighting Technology, and Academy of Engineering and Technology, Fudan University, Shanghai 200433, China
2 Department of Chemistry, University of Toronto, Toronto, Ontario M5S 3H6, Canada
In this work, a blue gallium nitride (GaN) micro-light-emitting-diode (micro-LED)-based underwater wireless optical communication (UWOC) system was built, and UWOCs with varied Maalox, chlorophyll, and sea salt concentrations were studied. Data transmission performance of the UWOC and the influence of light attenuation were investigated systematically. Maximum data transmission rates at the distance of 2.3 m were 933, 800, 910, and 790 Mbps for experimental conditions with no impurity, 200.48 mg/m3 Maalox, 12.07 mg/m3 chlorophyll, and 5 kg/m3 sea salt, respectively, much higher than previously reported systems with commercial LEDs. It was found that increasing chlorophyll, Maalox, and sea salt concentrations in water resulted in an increase of light attenuation, which led to the performance degradation of the UWOC. Further analysis suggests two light attenuation mechanisms, e.g., absorption by chlorophyll and scattering by Maalox, are responsible for the decrease of maximum data rates and the increase of bit error rates. Based on the absorption and scattering models, excellent fitting to the experimental attenuation coefficient can be achieved, and light attenuation by absorption and scattering at different wavelengths was also investigated. We believe this work is instructive apply UWOC for practical applications.
220.4830 Systems design 290.5850 Scattering, particles 290.5825 Scattering theory 230.6080 Sources 
Chinese Optics Letters
2019, 17(10): 100010

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