特种无人平台环境感知系统
Environmental Perception System for Special-purpose UGV Platform
- 兵工学报 2025年46卷第S2期 页码：250793
- 作者机构：
1. 中兵智能创新研究院有限公司, 北京 100072
2. 群体协同与自主实验室, 北京 100072
- 作者简介：
* 邮箱: heejunzhao@163.com
- 基金信息：
DOI：10.12382/bgxb.2025.0793
中图分类号：收稿：2025-09-01，
网络首发：2026-02-03，
纸质出版：2025
- 稿件说明：
移动端阅览
赵天择, 刘雪妍, 王旭, 等. 特种无人平台环境感知系统[J]. 兵工学报, 2025,46(S2):250793.
Tianze ZHAO, Xueyan LIU, Xu WANG, et al. Environmental Perception System for Special-purpose UGV Platform[J]. Acta Armamentarii, 2025, 46(S2): 250793.
赵天择, 刘雪妍, 王旭, 等. 特种无人平台环境感知系统[J]. 兵工学报, 2025,46(S2):250793. DOI： 10.12382/bgxb.2025.0793.
Tianze ZHAO, Xueyan LIU, Xu WANG, et al. Environmental Perception System for Special-purpose UGV Platform[J]. Acta Armamentarii, 2025, 46(S2): 250793. DOI： 10.12382/bgxb.2025.0793.
摘要
为满足特种无人平台在野外、两栖等复杂环境下的全天候自主感知需求
设计基于多源异构传感器的环境感知系统。系统集成了可见光/红外视频拼接、融合、立体视觉与多域感知传感器标定算法
通过组件化设计实现通用感知传感器的自清洁、密封与抗冲击
增强环境感知系统的防护能力与环境适应能力。试验结果表明
新系统可以为特种无人平台提供大视场可见光/红外驾驶视频、栅格地图、辅助驾驶视频、激光点云和毫米波点云等多域感知数据以及融合感知数据
为特种无人平台实现复杂环境下的自主行驶与遥控驾驶功能
提升智能化能力提供了数据基础。
Abstract
To meet the all-weather autonomous perception requirements of special-purpose unmanned ground vehicles (UGVs) in complex environments such as field and amphibious operations
an environmental perception system based on multi-source heterogeneous sensor is designed.The system integrates the calibration algorithms for visible/infrared video stitching
fusion
stereo vision and multi-domain sensors.The self-cleaning
sealing and shock resistance of general-purpose perception sensors are achieved through modularized design
enhancing the protection capability and adaptability of environmental perception system.Experimental results demonstrate that the proposed system can provide the special-purpose UGV platform with the multi-domain perception data such as wide-field visible/infrared driving video
3D stereo grid map
assistance driving video
LiDAR point clouds
and millimeter-wave radar point clouds
as well as the fused perception data.The system provides a data foundation for enabling the special-purpose UGV platforms to achieve autonomous driving and remote-controlled operation in complex environment
thereby enhancing their intelligent capabilities.
关键词
Keywords
references
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