多模态感知自主决策哨卫系统OA

This study presents a self-developed reconnaissance robot designed to investigate LiDAR-based mapping and the opera-tional dynamics of tracked robots on sloped terrains.We developed an improved noise reduction algorithm for LiDAR systems,enhancing anti-interference capability by 15.17%in rainy and foggy environments.Through systematic analysis of varied terrains and slope angles,we established a physical mechanics model to optimize the chassis motor control algorithm.This innovation enables proactive compensa-tion between centrifugal force during steering and gravitational components on inclines,effectively suppressing sideslip instability.Exper-imental results demonstrate significant improvements in terrain adaptability and autonomous navigation performance,particularly in com-plex environments with steep slopes and challenging ground conditions.The research provides critical technical support for enhancing mo-bile robot stability and operational reliability in adverse field scenarios.ts.