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成功案例:基于里程计、惯性测量单元和激光雷达的自主导航
  发布时间:2016-6-21

The amazing VIKINGS team’s robot has been the winner of the first two steps of the challenge ARGOS. Its autonomous navigation relies on several sensors: odometry prediction, fused with Ellipse-A inertial sensor information, then corrected by two LiDAR.

With this winning combination, VIKINGS team reaches a centimeter-level absolute precision (< 3 cm).

 

The ARGOS (Autonomous Robot for Gas and Oil Sites) Challenge

Launched in December 2013, the ARGOS (Autonomous Robot for Gas and Oil Sites) Challenge is organized by the oil and gas company TOTAL with the French National Research Agency (ANR). It aims to bring out in less than three years a new generation of autonomous robots able to perform inspection tasks, detect anomalies and respond to emergencies. The objective of this competition is to build an autonomous robot capable of moving on oil and gas sites in order to enhance the security of TOTAL operators.

"VIKINGS’s robot computes its position thanks to the fusion of odometry prediction and inertial sensor data.

The Ellipse-A provides very good pitch and roll performance thanks to low drift gyros" 

Odometry – Inertial Sensor – LiDAR, The winning Combination

VIKINGS’s robot computes its position thanks to the fusion of odometry prediction and inertial sensor data. This information is then corrected with data from the two LiDAR (the first one is positioned in the front and the other one in the back, for a field-of-view of 360 °). The robot is equipped with caterpillars, so the robot slides when it rotates. This type of vehicle makes the odometry accuracy especially bad.  The inertial system is therefore essential to calculate the heading. Roll and pitch are obtained from the Ellipse-A and fully entrusted.

"With this winning combination, VIKINGS team reaches a centimeter-level absolute precision (< 3 cm),

a technical achievement, which has greatly contributed to their two victories.".

Already satisfied with SBG SYSTEMS’ products, the choice was naturally the ellipse-A attitude and heading reference system. "It provides very good pitch and roll performance thanks to low drift gyros" says Mr. Merriaux. With this winning combination, VIKINGS team reaches a centimeter-level absolute precision (< 3 cm), a technical achievement, which has greatly contributed to their two victories.

What's next?

The next and final step will take place in March 2017. The teams will have to expect even more complex tasks and will have to demonstrate that their robot meets the ATEX / IECEx standard, which means being ready to operate in potentially explosive environments. We wish the best to the team VIKINGS!

Ellipse-A

Ellipse-A Miniature AHRS

Key features:

•  0.2° Roll & Pitch

•  1° Heading

•  Low noise and Low drift Gyroscopes

•  Light-weight, Low-power

•  Calibrated from -40° to +85°C

More information:

•  More information on the project: http://www.argos-challenge.com/en/team-vikings

•  More information on the Ellipse-A: Product Page