干旱区生态环境知识资源中心(Arid): Integrated Bionic Polarized Vision/VINS for Goal-Directed Navigation and Homing in Unmanned Ground Vehicle

Arid

DOI	10.1109/JSEN.2021.3066844
	Integrated Bionic Polarized Vision/VINS for Goal-Directed Navigation and Homing in Unmanned Ground Vehicle
	Zhou, Wenzhou; Fan, Chen; He, Xiaofeng; Hu, Xiaoping; Fan, Ying; Wu, Xuesong; Shang, Hang
通讯作者	Fan, C (corresponding author), Natl Univ Def Technol, Coll Intelligence Sci & Technol, Changsha 410073, Peoples R China.
来源期刊	IEEE SENSORS JOURNAL
ISSN	1530-437X
EISSN	1558-1748
出版年	2021
卷号	21 期号:10 页码:11232-11241
英文摘要	In this paper we present a bionic multi-sensor anavigation and control system for unmanned ground vehicles to complete the homing task. The system consists of the pixelated polarized sensor, a Micro Inertial Measurement Unit (MIMU), and a monocular camera. To compensate for the installation error, we provide a joint calibration method for multiple sensors. Utilizing the measurements of pixelated polarized vision sensor, we firstly propose an adaptive integrated method with the Visual-Inertial System. The integrated algorithm can not only solve the ambiguity problem of polarized orientation and reduce the cumulative error of the system, but also increase the navigation output rate and enhance the robustness of the system. We present a homevector-based strategy for the goal-directed navigation and control of the unmanned ground vehicles. When the external data link is interrupted, the unmanned vehicles can return to the starting point autonomously, which benefits for improving the survivability of the system. Finally, we design various experiments to verify the algorithm proposed in this paper. The experimental results of the calibration demonstrate that the RMSE of the orientation after calibration is only 0.014 degrees. In the navigation and homing experiment, the RMSE of the position error is 0.64m, and the minimum homing error is only 0.49m (1.09% of the travelled distance). Finally, we discuss interesting insights gained with respect to future work in multi-sensor integration and robot control strategies.
英文关键词	Robots Sensors Navigation Calibration Compass Cameras Robot vision systems Multi-sensor navigation system pixelated polarized vision sensor adaptive Kalman filter robot autonomous navigation
类型	Article
语种	英语
开放获取类型	Bronze
收录类别	SCI-E
WOS记录号	WOS:000642012400001
WOS关键词	VECTOR NAVIGATION ; DESERT ANTS ; SKYLIGHT
WOS类目	Engineering, Electrical & Electronic ; Instruments & Instrumentation ; Physics, Applied
WOS研究方向	Engineering ; Instruments & Instrumentation ; Physics
资源类型	期刊论文
条目标识符	http://119.78.100.177/qdio/handle/2XILL650/350532
作者单位	[Zhou, Wenzhou; Fan, Chen; He, Xiaofeng; Hu, Xiaoping; Fan, Ying; Wu, Xuesong; Shang, Hang] Natl Univ Def Technol, Coll Intelligence Sci & Technol, Changsha 410073, Peoples R China
推荐引用方式 GB/T 7714	Zhou, Wenzhou,Fan, Chen,He, Xiaofeng,et al. Integrated Bionic Polarized Vision/VINS for Goal-Directed Navigation and Homing in Unmanned Ground Vehicle[J],2021,21(10):11232-11241.
APA	Zhou, Wenzhou.,Fan, Chen.,He, Xiaofeng.,Hu, Xiaoping.,Fan, Ying.,...&Shang, Hang.(2021).Integrated Bionic Polarized Vision/VINS for Goal-Directed Navigation and Homing in Unmanned Ground Vehicle.IEEE SENSORS JOURNAL,21(10),11232-11241.
MLA	Zhou, Wenzhou,et al."Integrated Bionic Polarized Vision/VINS for Goal-Directed Navigation and Homing in Unmanned Ground Vehicle".IEEE SENSORS JOURNAL 21.10(2021):11232-11241.