引用格式:褚金奎，佟坤，李金山，等．基于偏振光传感器的仿鼠脑导航方法［J］．电光与控制，2023，30(3):96-100．CHUJK,TONGK,LIJS,etal．Abionicratbrainnavigationmethodbasedonpolarizationsensor［J］．ElectronicsOptics＆Control,2023,30(3):96-100．基于偏振光传感器的仿鼠脑导航方法褚金奎，佟坤，李金山，张志超(大连理工大学机械工程学院微系统研究中心，辽宁大连116000)摘要:面对长距离复杂场景下的自主移动机器人导航问题，仿生鼠脑的RatSLAM相较传统SLAM更加高效。但完全依赖视觉信息，导致其精度不高、可靠性不足。通过引入天空偏振光定向，高效地提供精准的绝对航向角，可以弥补RatSLAM的不足。设计并搭建了一种偏振光仿鼠脑导航系统及导航实验平台，经过室外道路实验验证了系统的性能，并与RatSLAM进行了比较。实验结果表明，偏振光仿鼠脑导航系统和RatSLAM的平均位置误差分别为3．65m和26．29m，平均角度误差分别为0．36°和2．39°。该系统减少了累积误差，实现了高效、强鲁棒性、轻量化的自主导航。关键词:实时定位与地图构建;仿生导航;偏振光传感器;RatSLAM;自主移动机器人中图分类号:P161．3;U666．1文献标志码:Adoi:10．3969/j．issn．1671－637X．2023．03．017ABionicRatBrainNavigationMethodBasedonPolarizationSensorCHUJinkui,TONGKun,LIJinshan,ZHANGZhichao(MicrosystemResearchCenter,SchoolofMechanicalEngineering,DalianUniversityofTechnology，Dalian116000,China)Abstract:Forautonomousmobilerobotnavigationinlong-distancecomplexenvironments,RatSLAM,whichsimulatesratbrain,ismoreefficientthantraditionalSLAM．However,itcompletelyreliesonvisualinformation,resultinginitslowaccuracyandinsufficientreliability．Byintroducingpolarizationskylightfororientation,whichefficientlyprovidespreciseabsoluteheadingangles,RatSLAMcanbecompensated．Apolarizationskylightbionicratbrainnavigationsystemandanexperimentalplatformaredesigned．Theperformanceofthesystemisverifiedthroughoutdoorroadexperiments,andiscomparedwiththatoftheRatSLAM．TheexperimentalresultsshowthatthemeanpositionerrorsofthepolarizationskylightbionicratbrainnavigationsystemandRatSLAMarerespectively3．65mand26．29m,andthemeanangleerrorsarerespectively0．36°and2．39°．Thissystemreducescumulat...
