V-şekil Özelliklerine ve Lidar Sensörüne Dayalı Yeni Bir Kenetlenme Algoritması

Yıl 2021, Sayı: 26 - Ejosat Özel Sayı 2021 (HORA), 35 - 40, 31.07.2021

Sercan Çağdaş Tekkök Bekir Bostancı Mehmet Emre Söyünmez Pınar Oğuz Ekim

https://doi.org/10.31590/ejosat.947521

Öz

Bu çalışma, şarj istasyonunda şarj edilecek holonomik olmayan bir mobil platform için LiDAR ile özellik tabanlı bir kenetlenme stratejisi sunar. Şarj/kenetlenme istasyonu, LiDAR taramalarından tespit edilebilecek yalnızca V şeklinde bir yapıya sahiptir. Önerilen yerleştirme algoritması, V-şekil özelliğinin LiDAR ölçümleriyle bulunması, beşli polinom ile yol oluşturulması ve yolun oluşturulan noktalarını izlemek ve düzeltmek için Orantılı İntegral Türev (PID) uygulaması olmak üzere üç ana bölümden oluşur. Sentetik olarak oluşturulan V-şekli özelliği mevcut Lidar taramaları ile eşleştirilerek kenetlenme istasyonunun göreceli konumu tespit edildiğinde, beşli polinomun katsayıları hesaplanarak yörüngeler oluşturulur. Daha sonra, yol boyunca noktalardaki başlangıç durumları, durumlar ve sapma açıları girdi olarak alınır ve algoritma, PID kontrolü ile yolu takip ederken robotun sapma açısını düzeltir. Algoritma hem simülasyon ortamında hem de gerçek test ortamında test edildi. Platform, x ve y'de ± 2 cm, 'de ± 1o civarında olan iyi bir doğrulukla yanaşmaktadır. Önerilen strateji ile platformda veya şarj istasyonunda ek sensörler gerekli değildir. Üstelik robot, ışık olmadığında bile iyi bir doğrulukla hareket edebilir. Böylelikle otonom mobil robotik uygulamalarının önemli bir problemi için daha ucuz bir çözüm elde edilmektedir.

Anahtar Kelimeler

Holonomik olmayan platform, Özellik tabanlı kenetlenme, LiDAR.

Destekleyen Kurum

Tübitak

Proje Numarası

119E376

A Novel Docking Algorithm Based On The LiDAR And The V-shape Features

Öz

This paper presents a feature based docking strategy with a LiDAR for a non holonomic mobile platform to be charged at the charging station. The docking station has only a V-shape structure to be detected from the LiDAR scans. The proposed docking algorithm consists of three main sections which are the localization of the V-Shaped feature with the LiDAR measurements, the path generation with a quintic polynomial and the Proportional Integral Derivative (PID) implementation to track the generated points of the path and correct the yaw angle along the way. Once the relative position of the docking station is detected by matching the synthetically generated V-shape feature with the current Lidar scans, the trajectories are generated by calculating the coeeficients of the quintic polynomial. Afterwards, the initial states, the states and the yaw angles at the points along the path are taken as inputs and the algorithm corrects the robot’s yaw angle as it follows the path by a PID control. The algorithm is both tested within the simulation environment and the real test environment. The platform docks with a good accuracy which is around ± 2 cm in x and y, ± 1o in . With the proposed strategy, additional sensors are not necessary on the platform or on the charging station. Moreover, the robot can navigate even in the absence of light with a good accuracy. Hence, a cheaper solution is obtained for an important problem of autonomous mobile robotic applications.

Anahtar Kelimeler

Non holonomic platform, Feature based docking, LiDAR.

Proje Numarası

119E376

Kaynakça

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