摘要
针对服务型室内移动机器人,本文设计实现了基于开源机器人操作系统(ROS)的室内导航功能。该机器人采用Arduino作为底盘驱动主控制模块,驱动电机与编码器。选用高性价比的RPLIDAR A1激光雷达作为核心传感器,采集室内环境的深度信息后利用Raspberry Pi进行数据转换与处理。然后使用ROS实现地图构建、定位与导航等功能,并利用ROS的分布式框架将导航界面通过WiFi传输至PC,从而提供人机交互式导航界面。我们在实际室内环境中进行各功能模块测试,实验结果证明了该室内导航机器人系统的可行性。
For the service -oriented indoor mobile robot,this paper designs and implements the indoor navigation function based on the open source Robot Operating System (ROS).Firstly,the robot uses Arduino as the chassis to drive the main c,ontrol module to drive the motor and encoder.At the same time,the cost -effective RPLIDAR AI laser radar is used as the core sensor to collect the depth information of the indoor environment and then use Raspberry Pi for data conversion and processing.Then use ROS to realize the functions of map.construction,positioning and navigation,and use the distributed framework of ROS to transfer the navigation interface to the computer through WiFi,thus providing a human -machine interactive navigation interface.Finally,the functional modules of the robot are tested in the actual indoor environment.The experimental results prove the feasibility of'the indoor navigation robot system.
作者
邓轲
金光
江先亮
DENG Ke;JIN Guang;JIANG Xian-liang(Faculty of Information Science and Engineering,Ningbo University,Ningbo 315211,China)
出处
《无线通信技术》
2018年第4期27-30,共4页
Wireless Communication Technology
基金
浙江省科技厅公益技术项目(LGG18F020007)
宁波市自然科学基金(2017A610129)
宁波大学研究生优秀示范课程项目
