FOXTECH VG-450 UGV Lidar Mapping Neeg Hlau Phau Ntawv

Cov ntsiab lus zais

1 FOXTECH VG-450 UGV Lidar Mapping neeg hlau

2 Taw qhia

3 Simulation Taw Qhia

4 RtabMap 3D Mapping Function

5 OctoMap 3D Mapping muaj nuj nqi

6 SLAM 2D Mapping Function

7 Cov ntaub ntawv / Cov ntaub ntawv

7.1 Cov ntaub ntawv

8 Related Posts

FOXTECH VG-450 UGV Lidar Mapping neeg hlau

Taw qhia

Tshajview
VG-450 yog qhov ceev, nrawm, compact robotic open-source research platform tshwj xeeb uas tsim los rau UGV developers thiab scientific researchers, muab ntau demo routines, xws li sab nraum zoov waypoint npaj, 2D LiDAR mapping thiab obstacle kev zam, 3D mapping, thiab lwm yam.
Qhov kev loj hlob platform no yog ua raws li ROS qhib qhov system thiab APM nws pib navigation system thiab tseem nruab nrog ntau lub sensors, xws li LiDAR, lub koob yees duab binocular, lub koob yees duab tob, RTK, uas yog tsim rau kev tshawb fawb txog kev siv tsheb thauj mus los, kev pabcuam neeg hlau, thiab ntxiv-on muaj nuj nqi kev txhim kho.
Specification

Scout MINI

Loj 627 x 549 x 502 mm
Wheelbase 452 hli
Pem hauv ntej log puag 450 hli
Qhov hnyav 26kg ib
Load peev 7kg ib
Hom roj teeb 24V 15Ah lithium roj teeb
Tsav brushless DC lub cev muaj zog 4 * 150W
Tsav hom ywj pheej plaub-log tsav
Kev ncua ywj siab ncua kev kawm ntawv nrog rocker caj npab
Steering plaub-wheel differential steering
Cov cuab yeej siv kev nyab xeeb Servo nres / tiv thaiv kev sib tsoo tube
Tsis-load siab tshaj plaws 10.8km/h ua
Yam tsawg kawg nkaus tig radius Om (n-situ rotation)
Qhov siab tshaj plaws elimbing muaj peev xwm S0
Yam tsawg kawg nkaus kev tshem tawm hauv av 107 hli
Max taug kev 10km ua
Tswj hom chaw taws teeb tswj / hais kom ua hom
Kemote tswj 2.4Ghz / 1km qhov deb heev
Kev sib txuas lus interface YOG

Onboard Computer

Qauv TIAB SA 6
Cpu Intel 17 8565U, quad-core thiab yim-xov xov
GPU Intel UHD Graphics 620
Hard drive 128 GB ua
RAM 8 GB DDR4

Binocular Lub Koob Yees Duab

Qauv
Intel Realsense T265
Chip Movidius Myraid 2
Teb ntawm view Ob lub ntsej muag lub ntsej muag, ze rau hemispherical 163 + 5 ° FOV
IMU BMIOS5, tso cai rau kev ntsuas qhov tseeb ntawm kev sib hloov thiab kev nrawm ntawm lub cuab yeej

Lub koob yees duab tob

Qauv ntel Realsense D4351\
Tshuab tob Active IR lub tso suab
Qhov tob tso zis daws teeb meem mus txog 1280 ° 720
Qhov tob tso zis ncej tus nqi mus 90fps
Min. qhov tob tob 0. Ib

LiDAR

Laser ntau yam technoloEy TOF
King radnus 0.15m-
Sample tus 9200 zaug / sec Kaning raug 2-10cm (ib txwm Scm)
Ranging resouton Cm
Scanning ng 360
Scanning Irequency 7-1SHz (tseem 10Hz)

RTK Positioning Module

Ntau zaus BDS/GPS/GLONASS/QZSs
Positioning raug 10cm (ntev)
Lub sijhawm pib <10s (ntaus)
Lub sij hawm los kho thawj zaug txias pib: 40s (ib txwm); pib kub: 5s (ib txwm) serial chaw nres nkoj. TF daim card. USB 2.00G. YOG. PPS
Interface EVENT
Cov ntaub ntawv hom NPE-0183. BINEX. Femtomes ASCIl. Binary
GNSS data tasa IHz / SHz / 10Hz / 20Hz (yeem) WIFI Transmission System
Qhov hnyav 146.8 g
Loj 88 x 66 x 19 mm
Kev sib kis nrug 800m (tsis muaj teeb meem)
Ntau zaus 5.1GHz-5.9GHz
Hwj chim 6W
ncua 200ms ib
Bandwidth 40MHz los yog 20MHz
Kev xa hluav taws xob 20mW ua
Ua haujlwm kub -10 ° C ~ 45 ° C

Tig rau lub chaw taws teeb tswj thiab tig lub SWB hloov qib mus rau nruab nrab txoj hauj lwm los hloov UGV mus rau lub chaw taws teeb tswj hom, kom UGV tuaj yeem txav mus rau qhov chaw sim (*Vim tias lub ntsiab lus thaum lub rooj tsav xwm tswj tau qhib tau suav tias yog ua qhov taw qhia hauv tsev, nws raug pom zoo kom rov pib dua UGV tom qab tuaj txog ntawm qhov chaw sim)

Txuas mus rau UGV's WiFi, thiab siv Lub Hom Phiaj Planner hauv av chaw nres tsheb thiab NoMachine los txuas rau UGV
Nyem lub davhlau txoj kev npaj nyob rau sab laug ces kaum nyob rau hauv pem teb chaw nres tsheb nkag mus rau lub waypoint chaw interface. Thiab nyem ib qho taw tes ntawm daim ntawv qhia nrog rau sab laug nas khawm los teeb lub waypoint. Cov cwj pwm thiab kev teeb tsa ntawm txoj kev taw qhia yuav tshwm sim nyob rau sab laug sab sauv thiab lub kaum sab xis, uas tuaj yeem hloov kho raws li qhov xwm txheej. Tom qab teeb tsa txoj kev taw qhia, nyem qhov sau qhov taw qhia ntawm sab xis. (* Tom qab ua tiav cov kauj ruam saum toj no, rov pib lub khoos phis tawj onboard kom tau txais txoj hauv kev tshiab.)

Tig rau lub tshuab hluav taws xob onboard, txuas mus rau UGV X86 computer los ntawm NoMachine, thiab qhib sh script folder ntawm lub desktop
Nyem rau ntawm tus nas khawm sab xis hauv daim nplaub tshev, xaiv Qhib hauv Terminal xaiv qhib lub davhlau ya nyob twg, thiab nkag mus rau cov lus txib hauv qab no kom pib txoj kev npaj npaj thiab VFH teeb meem zam kev ua haujlwm

Nyob rau hauv Lub Hom Phiaj Planner hauv av chaw nres tsheb, xaiv Action -> Hom (AUTO lossis GUIDED) -> Teeb hom los teeb tsa UGV rau AUTO lossis GUIDED hom (* Hauv AUTO hom, UGV yuav txav mus raws li txoj kev npaj. Hauv GUIDED hom, UGV yuav txav mus raws li txoj kev npaj thiab muaj VFH teeb meem kev zam txim)

2D kuas

Nias lub hwj chim khawm ntawm UGV
Qhib lub chaw taws teeb tswj
Txuas mus rau lub WiFi ntawm UGV, thiab pib NoMachine txuas mus rau UGV lub computer onboard

Nrhiav sh script folder ntawm UGV's onboard computer desktop hauv NoMachine interface
Nyem rau ntawm tus nas khawm sab xis hauv daim nplaub tshev, xaiv Qhib hauv Terminal xaiv qhib lub davhlau ya nyob twg, thiab nkag mus rau cov lus txib hauv qab no kom pib 2D mapping muaj nuj nqi r300_cartographer_slam.sh

Raws li qhov xwm txheej ib txwm, txhua lub node pib ib txwm, thiab koj tuaj yeem pom daim duab qhia pom hauv rviz
Siv cov chaw taws teeb tswj los tswj UGV kom txav mus. Tom qab daim duab qhia chaw tsim, sau cov lus txib nram qab no kom txuag tau daim ntawv qhia rosrun map_server map_saver -f map_name

cov lus qhia (map_name hauv cov lus txib yog lub npe ntawm daim ntawv qhia kev cawmdim ntsig txog file, thiab ib hom ntawv pgm thiab yaml file yuav raug tsim tawm. Cov file yuav tau txais kev cawmdim nyob rau hauv lub nplaub tshev txoj kev ntawm lub davhlau ya nyob twg qhov kev hais kom ua yog nkag)

3D kuas

Nias lub hwj chim khawm ntawm UGV
Qhib lub chaw taws teeb tswj
Txuas mus rau lub WiFi ntawm UGV, thiab pib NoMachine txuas mus rau UGV lub computer onboard

Nrhiav sh script folder ntawm UGV's onboard computer desktop hauv NoMachine interface
Nyem rau ntawm tus nas khawm sab xis hauv daim nplaub tshev, xaiv Qhib hauv Terminal xaiv qhib lub davhlau ya nyob twg, thiab nkag mus rau cov lus txib hauv qab no kom pib 2D mapping muaj nuj nqi
r300_rtabmap.sh

Siv cov chaw taws teeb tswj tswj kev txav ntawm UGV los tsim ib daim ntawv qhia 3D ntawm thaj chaw
- tip (Yog hais tias lub node pib txawv txav, thov siv rs-sensor-control hais kom ua los xyuas seb lub koob yees duab T265 thiab D435i tshwm. Yog tias lawv tsis tshwm sim, nws txhais tau hais tias lub cuab yeej tsis txuas nrog lub khoos phis tawj onboard ib txwm. hloov qhov chaw nres nkoj USB lossis rov pib dua UGV)

Simulation Taw Qhia

Simulation System
R300 simulation system yog raws li ROS thiab Gazebo simulation system. Nws muab UGV lub cev qauv, thiab sensor simulations xws li 2D lidar, 3D lidar thiab lub koob yees duab tob. Nws yog tam sim no nruab nrog navigation muaj nuj nqi, RtabMap 3D mapping muaj nuj nqi, OctoMap 3D mapping muaj nuj nqi, thiab SLAM mapping muaj nuj nqi.

Navigation Function
Qhov pib sh tsab ntawv yog /src/R300/r300_simulation/sh/r300_simulation_navigation.sh. Cov sh file muaj cov nram qab no qhov chaw:

Pib lub ros master node
Pib R300 simulation, suav nrog simulation ib puag ncig, UGV qauv, sensor simulation, TF, thiab lwm yam.
Keyboard tswj node los tswj kev txav ntawm UGV
Navigation muaj nuj nqi
Lub rviz pom kev sib cuam tshuam, uas tau teeb tsa rau kev ua haujlwm navigation, qhia txog kev npaj, daim duab qhia chaw, qhov chaw, cov ntaub ntawv lidar, thiab UGV qauv.
Qhib lub davhlau ya nyob twg arbitrarily, luag lub r300_simulation_navigation.sh file mus rau hauv lub davhlau ya nyob twg qhov rais, thiab ib tug hais kom pib lub sh tsab ntawv yuav tshwm sim. Nias Enter kom pib nws.

Tshawb xyuas lub qhov rais davhlau ya nyob twg uas tshwm sim thiab seb cov nodes hauv txhua lub davhlau ya nyob twg tau pib ib txwm. Tom qab paub tseeb tias cov nodes khiav ib txwm, nias lub A lossis D tus yuam sij hauv lub davhlau ya nyob twg tswj hwm thib peb kom muab UGV qhov nrawm nrawm (Angular tshaj tawm tau pom zoo los tswj hauv 0.5). Tom qab UGV qhov chaw tau sib sau ua ke, nyob rau hauv ib txwm muaj xwm txheej, UGV tuaj yeem tig rau ib lub voj voog tag nrho. Nias crtl + c nyob rau hauv lub keyboard tswj lub davhlau ya nyob twg los kaw qhov node.

Xaiv 2D Nav Lub Hom Phiaj plug-in hauv rviz, xaiv ib qho taw qhia hauv daim ntawv qhia, nyem rau ntawm tus nas laug khawm thiab nias lub sijhawm ntev los xaiv cov kev taw qhia, thiab tom qab ntawd tso nws kom xa cov phiaj xwm kev taw qhia, thiab UGV yuav cia li mus rau qhov chaw. lub hom phiaj.

RtabMap 3D Mapping Function

Qhov pib sh tsab ntawv yog /src/R300/r300_simulation/sh/r300_simulation_rtabmap.sh. Cov sh file muaj cov nram qab no qhov chaw:

Pib lub ros master node
Pib R300 simulation, suav nrog simulation ib puag ncig, UGV qauv, sensor simulation, TF, thiab lwm yam.

Keyboard tswj node los tswj kev txav ntawm UGV
Rtabmap kev ua haujlwm. Qhov kev ua haujlwm no tsuas yog siv cov duab pom thiab cov duab qhov tob ntawm lub koob yees duab qhov tob los ua 3D mapping. Qhib lub davhlau ya nyob twg arbitrarily, luag lub r300_simulation_rtabmap.sh file mus rau hauv lub davhlau ya nyob twg qhov rais, thiab ib tug hais kom pib lub sh tsab ntawv yuav tshwm sim. Nias Enter kom pib nws. Tshawb xyuas lub qhov rais davhlau ya nyob twg uas tshwm sim thiab seb cov nodes hauv txhua lub davhlau ya nyob twg tau pib ib txwm. Tom qab lees paub tias cov nodes tau ua haujlwm ib txwm, nkag mus rau cov lus qhia tswj cov lus qhia nyob rau hauv lub thib peb keyboard-tswj davhlau ya nyob twg los tswj lub zog ntawm UGV rau 3D mapping.

OctoMap 3D Mapping muaj nuj nqi

Qhov pib sh tsab ntawv yog /src/R300/300_simulation/sh/r300_simulation_octomap.sh. Cov sh file muaj cov nram qab no qhov chaw:

Pib lub ros master node
Pib R300 simulation, suav nrog simulation ib puag ncig, UGV qauv, sensor simulation, TF, thiab lwm yam.
Keyboard tswj node los tswj kev txav ntawm UGV
Octomap daim ntawv qhia muaj nuj nqi, feem ntau yog siv 3D lidar point huab cov ntaub ntawv rau daim ntawv qhia
Lub rviz visual interface, uas yog teem rau lub octomap muaj nuj nqi, qhia maps thiab UGV qauv. Qhib lub davhlau ya nyob twg arbitrarily, luag lub r300_simulation_octomap.sh file mus rau hauv lub davhlau ya nyob twg qhov rais, thiab ib tug hais kom pib lub sh tsab ntawv yuav tshwm sim. Nias Enter kom pib nws. Tshawb xyuas lub qhov rais davhlau ya nyob twg uas tshwm sim thiab seb cov nodes hauv txhua lub davhlau ya nyob twg tau pib ib txwm. Tom qab lees paub tias cov nodes tau ua haujlwm ib txwm, nkag mus rau cov lus qhia tswj cov lus qhia nyob rau hauv lub thib peb keyboard-tswj davhlau ya nyob twg los tswj lub zog ntawm UGV rau 3D mapping.

Tom qab daim ntawv qhia tsim, koj tuaj yeem nkag mus rau cov lus txib hauv qab no kom txuag tau daim ntawv qhia: rosrun octomap_server octomap_saver -f map_name.ot To view daim ntawv qhia 3D, nkag mus rau cov lus txib hauv qab no: octovis map_name.ot Nruab sudo apt-tau nruab octovis

SLAM 2D Mapping Function

Cov ntawv pib sh yog amovcar/src/R300/r300_simulation/sh/r300_simulation_slam.sh. Cov sh file muaj cov nram qab no qhov chaw:

Pib lub ros master node
Pib R300 simulation, suav nrog simulation ib puag ncig, UGV qauv, sensor simulation, TF, thiab lwm yam.
Keyboard tswj node los tswj kev txav ntawm UGV
2D daim ntawv qhia muaj nuj nqi, feem ntau yog siv 2D lidar cov ntaub ntawv rau daim ntawv qhia
Lub rviz visual interface, uas yog teem rau SLAM 2D mapping muaj nuj nqi, qhia cov duab qhia chaw thiab UGV qauv. Qhib lub davhlau ya nyob twg arbitrarily, luag lub r300_simulation_slam.sh file mus rau hauv lub davhlau ya nyob twg qhov rais, thiab ib tug hais kom pib lub sh tsab ntawv yuav tshwm sim. Nias Enter kom pib nws. Tshawb xyuas lub qhov rais davhlau ya nyob twg uas tshwm sim thiab seb cov nodes hauv txhua lub davhlau ya nyob twg tau pib ib txwm. Tom qab lees paub tias cov nodes tau ua haujlwm ib txwm, nkag mus rau cov lus qhia tswj cov lus qhia nyob rau hauv lub thib peb keyboard-tswj davhlau ya nyob twg los tswj lub zog ntawm UGV rau 2D mapping.

Tom qab daim ntawv qhia tsim, koj tuaj yeem nkag mus rau cov lus txib hauv qab no kom txuag tau daim ntawv qhia: rosrun map_server map_saver -f map_name

Tom qab nkag mus rau lo lus txib no, files hauv .pgm thiab .yaml hom ntawv yuav raug tsim nyob rau hauv daim nplaub tshev tam sim no, thiab daim ntawv qhia chaw khaws tseg file map.yaml thiab map.pgm tuaj yeem ua tau viewed los ntawm ls hais kom ua.