Research on Visual Positioning of a Roadheader and Construction of an Environment Map
The autonomous positioning of tunneling equipment is the key to intellectualization and robotization of a tunneling face. In this paper, a method based on simultaneous localization and mapping (SLAM) to estimate the body pose of a roadheader and build a navigation map of a roadway is presented. In t...
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-05-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/11/11/4968 |
| _version_ | 1797532244559003648 |
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| author | Wentao Zhang Guodong Zhai Zhongwen Yue Tao Pan Ran Cheng |
| author_facet | Wentao Zhang Guodong Zhai Zhongwen Yue Tao Pan Ran Cheng |
| author_sort | Wentao Zhang |
| collection | DOAJ |
| description | The autonomous positioning of tunneling equipment is the key to intellectualization and robotization of a tunneling face. In this paper, a method based on simultaneous localization and mapping (SLAM) to estimate the body pose of a roadheader and build a navigation map of a roadway is presented. In terms of pose estimation, an RGB-D camera is used to collect images, and a pose calculation model of a roadheader is established based on random sample consensus (RANSAC) and iterative closest point (ICP); constructing a pose graph optimization model with closed-loop constraints. An iterative equation based on Levenberg–Marquadt is derived, which can achieve the optimal estimation of the body pose. In terms of mapping, LiDAR is used to experimentally construct the grid map based on open-source algorithms, such as Gmapping, Cartographer, Karto, and Hector. A point cloud map, octree map, and compound map are experimentally constructed based on the open-source library RTAB-MAP. By setting parameters, such as the expansion radius of an obstacle and the updating frequency of the map, a cost map for the navigation of a roadheader is established. Combined with algorithms, such as Dijskra and timed-elastic-band, simulation experiments show that the combination of octree map and cost map can support global path planning and local obstacle avoidance. |
| first_indexed | 2024-03-10T10:57:17Z |
| format | Article |
| id | doaj.art-2ab2a37511b049e6823a4c316413f4f2 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-10T10:57:17Z |
| publishDate | 2021-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-2ab2a37511b049e6823a4c316413f4f22023-11-21T21:47:31ZengMDPI AGApplied Sciences2076-34172021-05-011111496810.3390/app11114968Research on Visual Positioning of a Roadheader and Construction of an Environment MapWentao Zhang0Guodong Zhai1Zhongwen Yue2Tao Pan3Ran Cheng4School of Mechanical Electronic & Information Engineering, China University of Mining and Technology-Beijing, Beijing 100083, ChinaSchool of Mechanical Electronic & Information Engineering, China University of Mining and Technology-Beijing, Beijing 100083, ChinaFujian Provincial Key Laboratory of Information Processing and Intelligent Control (Minjiang University), Fuzhou 350121, ChinaFujian Provincial Key Laboratory of Information Processing and Intelligent Control (Minjiang University), Fuzhou 350121, ChinaSchool of Mechanical Electronic & Information Engineering, China University of Mining and Technology-Beijing, Beijing 100083, ChinaThe autonomous positioning of tunneling equipment is the key to intellectualization and robotization of a tunneling face. In this paper, a method based on simultaneous localization and mapping (SLAM) to estimate the body pose of a roadheader and build a navigation map of a roadway is presented. In terms of pose estimation, an RGB-D camera is used to collect images, and a pose calculation model of a roadheader is established based on random sample consensus (RANSAC) and iterative closest point (ICP); constructing a pose graph optimization model with closed-loop constraints. An iterative equation based on Levenberg–Marquadt is derived, which can achieve the optimal estimation of the body pose. In terms of mapping, LiDAR is used to experimentally construct the grid map based on open-source algorithms, such as Gmapping, Cartographer, Karto, and Hector. A point cloud map, octree map, and compound map are experimentally constructed based on the open-source library RTAB-MAP. By setting parameters, such as the expansion radius of an obstacle and the updating frequency of the map, a cost map for the navigation of a roadheader is established. Combined with algorithms, such as Dijskra and timed-elastic-band, simulation experiments show that the combination of octree map and cost map can support global path planning and local obstacle avoidance.https://www.mdpi.com/2076-3417/11/11/4968roadheaderRGB-D cameraSLAMpose solutionpose optimizationnavigation map |
| spellingShingle | Wentao Zhang Guodong Zhai Zhongwen Yue Tao Pan Ran Cheng Research on Visual Positioning of a Roadheader and Construction of an Environment Map Applied Sciences roadheader RGB-D camera SLAM pose solution pose optimization navigation map |
| title | Research on Visual Positioning of a Roadheader and Construction of an Environment Map |
| title_full | Research on Visual Positioning of a Roadheader and Construction of an Environment Map |
| title_fullStr | Research on Visual Positioning of a Roadheader and Construction of an Environment Map |
| title_full_unstemmed | Research on Visual Positioning of a Roadheader and Construction of an Environment Map |
| title_short | Research on Visual Positioning of a Roadheader and Construction of an Environment Map |
| title_sort | research on visual positioning of a roadheader and construction of an environment map |
| topic | roadheader RGB-D camera SLAM pose solution pose optimization navigation map |
| url | https://www.mdpi.com/2076-3417/11/11/4968 |
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