Tightly-Coupled LiDAR-inertial Odometry for Wheel-based Skid Steering UGV

Mengkai Li*, Lei Wang, Wenhu Ren, Qi Liu, Chaoyang Liu

*此作品的通讯作者

科研成果: 书/报告/会议事项章节会议稿件同行评审

摘要

Skid steering Unmanned Ground Vehicles (UGVs) are highly maneuverable and flexible and widely used in challenging urban environments. A variety of sensors are equipped so that they can realize autonomous localization and navigation. Therefore, the application of multi-sensor fusion SLAM in UGVs has become a research hotpot. This paper firstly proposes the extended Kalman filter to fuse IMU and wheel odometry by kinematics model, and the output state is fused with tightly coupled Lidar-inertial odometry to establish a lidar based SLAM system. Then, raw sensor data are collected on "DUBHE,"a skid steering UGV. Finally, by fusing different sensors for path drawing and comparison, the results show that the trajectory of our designed fusion system is closer to the ground truth. This paper is experimentally verified that our proposed algorithm integrating wheel odometer by kinematic model has good performance in the localization of skid steering UGV.

源语言英语
主期刊名ICIEA 2022 - Proceedings of the 17th IEEE Conference on Industrial Electronics and Applications
编辑Wenxiang Xie, Shibin Gao, Xiaoqiong He, Xing Zhu, Jingjing Huang, Weirong Chen, Lei Ma, Haiyan Shu, Wenping Cao, Lijun Jiang, Zeliang Shu
出版商Institute of Electrical and Electronics Engineers Inc.
510-516
页数7
ISBN(电子版)9781665409841
DOI
出版状态已出版 - 2022
活动17th IEEE Conference on Industrial Electronics and Applications, ICIEA 2022 - Chengdu, 中国
期限: 16 12月 202219 12月 2022

出版系列

姓名ICIEA 2022 - Proceedings of the 17th IEEE Conference on Industrial Electronics and Applications

会议

会议17th IEEE Conference on Industrial Electronics and Applications, ICIEA 2022
国家/地区中国
Chengdu
时期16/12/2219/12/22

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