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Speckle velocimetry for high accuracy and multi-dimensional odometry

用于高精度和多维里程计的散斑测速

基本信息

批准号：
EP/H019839/1
负责人：
Ralph Tatam
金额：
$ 35.93万
依托单位：
CRANFIELD UNIVERSITY
依托单位国家：
英国
项目类别：
Research Grant
财政年份：
2010
资助国家：
英国
起止时间：
2010 至无数据
项目状态：
已结题

来源：
https://gtr.ukri.org/projects?ref=EP%2FH019839%2F1
关键词：
Speckle velocimetry accuracy multi dimensional

项目摘要

There is great interest in improving the capabilities of autonomous land vehicles, for a diverse range of applications ranging from inspection/repair in nuclear facilities, pipeline inspections, military surveillance, search and rescue, bomb disposal/mine clearance and space exploration rovers to household vacuum cleaners, lawn mowers and pool cleaners. One area of particular interest concerns the navigation of the vehicle and in particular measuring a vehicle's movements or localisation. Odometry or 'dead reckoning' is commonly used to calculate a vehicle's position, and requires some measure of the distance travelled. Currently, the most common technique for measuring odometry involves counting wheel revolutions using wheel encoders. This is prone to errors and inaccuracies, for example due to wheel slippages, unequal wheel diameters, misalignment of wheels, surface roughness and rounding errors due to the discrete sampling of wheel increments. The research proposed here is the development of an improved method of navigation feedback using non-contact optical sensing combined with digital image processing techniques.The research proposed here is the development of an improved method of navigation feedback using non-contact optical sensing combined with digital image processing techniques. The program will involve the construction and demonstration of a test system, the optimisation of processing algorithms and an assessment of its capabilities. This will be followed by the further development of the concept to provide other navigational information about the vehicle's rotation and the detection of vehicle slippages.

人们对提高自主陆地车辆的能力非常感兴趣，其应用范围广泛，从核设施的检查/维修、管道检查、军事监视、搜索和救援、炸弹处理/扫雷和空间探索漫游车到家用真空吸尘器、割草机和游泳池清洁器。一个特别感兴趣的领域涉及车辆的导航，特别是测量车辆的移动或定位。里程计或“航位推算”通常用于计算车辆的位置，并需要对行驶的距离进行一些测量。目前，用于测量里程的最常见的技术涉及使用车轮编码器对车轮转数进行计数。这易于产生误差和不准确性，例如由于车轮打滑、不相等的车轮直径、车轮的未对准、表面粗糙度以及由于车轮增量的离散采样而产生的圆整误差。本文提出的研究是利用非接触式光学传感结合数字图像处理技术改进导航反馈方法的发展。该计划将涉及测试系统的构建和演示，处理算法的优化以及对其能力的评估。随后将进一步发展这一概念，以提供有关车辆旋转和车辆打滑检测的其他导航信息。