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Conception et integration d'un capteur lidar 3D pour la navigation autonome des robots mobiles en terrain inconnu.

机译：3D激光雷达传感器的设计和集成，用于在未知地形中对移动机器人进行自主导航。

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摘要

The study of Mars is of growing interest among the scientific community. Given the large distance between this planet and the Earth, as well as the hostile environment prevailing there, its exploration takes advantage of using rovers. The rare communication windows, along with the important delays occuring during communications, justify artificial intelligence deployment on these mobile platforms in order to maximize their autonomy. Hence, one of the crucial issues is the ability the rover has to autonomously navigate and thus, to properly detect its environment with the help of advanced vision systems.;The research project discussed in this thesis focuses on this theme and is done in collaboration with the Canadian Space Agency (CSA). The main objective is to design a three-dimensional vision system enabling a mobile robot to navigate autonomously. It relates more particularly to the design, integration and study of CORIAS (COntinuous Range and Intensity Acquisition System), a vision system using lidar (LIght Detection And Ranging). The system uses a LMS111, manufactured by SICK, as its main sensor. The device developed in this research project not only meets the main objective, but it also has the following characteristics : (1) The three-dimensional reproduction of the environment is performed within a 20 meter radius. (2) The maximum data acquisition rate is 27 050 points per second. (3) The time required to complete a full-coverage scan performed with typical operation parameters (0,25° elevation and 0,50° azimuth resolutions) is around 29 seconds. (4) The system is able to transmit the intensity measurements associated with the acquired points. (5) Vertical (elevation) and horizontal (azimuth) resolutions are configurable and fine enough to detect obstacles. (6) The system has a reasonable level of protection against bad weather conditions (dust, rain, snow, etc.).;CORIAS only requires a 24 volts DC power supply and an Ethernet link to be operated. It can be installed easily on a large variety of platforms. The rover's on-board computer is responsible for communicating with the vision system and provides the commands it needs to accomplish. The microcontroller, which is the central part of the system, operates on Linux and acts as a TCP-IP server. It is responsible, among other things, for managing all the commands, pre-processing data and transferring these to the rover's computer. Data processing is then performed on the rover's onboard computer, where algorithms aiming at filtering points and extracting the navigable mesh are involved.;In the summer of 2011, CORIAS was first used on CSA's Mars Emulation Terrain (MET) for validation purposes. During this three-day test campaign, over 112 georeferenced full-coverage scans were successfully acquired. The data produced by this experiment was used to generate MET's digital elevation map and was shared as a scientific database in the International Journal of Robotics Research (IJRR). In the summer of 2012, CORIAS was finally integrated on the Juno rover, a robotic platform for research and development used by CSA.
机译：火星的研究在科学界越来越受到关注。考虑到这颗行星与地球之间的距离很大，以及那里普遍存在的敌对环境，它的探索利用了流动站的优势。罕见的通信窗口以及通信期间发生的重要延迟，证明了在这些移动平台上部署人工智能以使其自治最大化的理由。因此，关键问题之一是流动站必须具备自动导航的能力，从而能够借助先进的视觉系统正确检测其环境。本论文中讨论的研究项目着眼于这一主题，并与加拿大航天局（CSA）。主要目标是设计一个三维视觉系统，使移动机器人能够自主导航。它更具体地涉及CORIAS（连续距离和强度采集系统）的设计，集成和研究，CORIAS是使用激光雷达（亮度检测和测距）的视觉系统。该系统使用SICK制造的LMS111作为其主要传感器。该研究项目开发的设备不仅达到了主要目的，而且还具有以下特点：（1）在20米半径范围内对环境进行三维再现。 （2）最高数据采集速率为每秒27 050点。 （3）完成使用典型操作参数（0.25°仰角和0.50°方位角分辨率）执行的全覆盖扫描所需的时间约为29秒。 （4）系统能够发送与所获取的点相关联的强度测量结果。 （5）垂直（海拔）和水平（方位）分辨率是可配置的，并且足够精细以检测障碍物。 （6）系统具有合理的防护等级，可抵御恶劣的天气条件（灰尘，雨水，大雪等）。CORIAS仅需要24伏直流电源和以太网链路即可运行。它可以轻松地安装在各种平台上。流动站的车载计算机负责与视觉系统进行通信，并提供所需的命令。该微控制器是系统的核心部分，可在Linux上运行并充当TCP-IP服务器。除其他事项外，它负责管理所有命令，预处理数据并将其传输到流动站的计算机。然后，在流动站的车载计算机上执行数据处理，其中涉及旨在过滤点和提取可导航网格的算法。； 2011年夏天，CORIAS首次用于CSA的火星仿真地形（MET）进行验证。在为期三天的测试活动中，成功获取了112多个地理参考全覆盖扫描。该实验产生的数据用于生成MET的数字高程图，并在国际机器人研究杂志（IJRR）中作为科学数据库共享。 2012年夏天，CORIAS最终集成到了Juno Rover，这是CSA使用的用于研发的机器人平台。

著录项

  • 作者

    Roberge, Jean-Philippe.;

  • 作者单位

    Ecole Polytechnique, Montreal (Canada).;

  • 授予单位 Ecole Polytechnique, Montreal (Canada).;
  • 学科 Engineering Electronics and Electrical.;Engineering Robotics.
  • 学位 M.Sc.A.
  • 年度 2013
  • 页码 160 p.
  • 总页数 160
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

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