摘要
为了提高机器人的自主导航性能,设计了基于ROS的移动机器人自主建图与路径规划系统.通过2D激光雷达获取周围环境信息,利用姿态传感器(IMU)获取机器人的姿态和加速度信息,利用Gmapping算法实现机器人的自主定位与建图,利用基于头尾双向搜索的A*算法进行全局路径规划,采用DWA算法完成局部避障工作.结果表明,所提算法可使机器人完成构建地图以及自主导航任务,提高导航系统的自主性能以及工作效率.
In order to improve the autonomous navigation performance of robot,an autonomous mapping and path planning system of mobile robot based on ROS was designed.The surrounding environment information was acquired via a 2D laser radar,and an inertial measurement unit(IMU)was used to obtain the attitude and acceleration information of robot.The Gmapping algorithm was used to realize the autonomous positioning and mapping of robot.Furthermore,A*algorithm based on both head and tail search was used for global path planning,and the DWA algorithm was used to accomplish local obstacle avoidance.The results show that the as-proposed algorithm enables the robot to finish the tasks of map construction and autonomous navigation,and improves the autonomous performance and work efficiency of navigation system.
作者
温淑慧
问泽藤
刘鑫
温淑焕
WEN Shu-hui;WEN Ze-teng;LIU Xin;WEN Shu-huan(Key Laboratory of Industrial Computer Control Engineering of Hebei Province,Yanshan University,Qinhuangdao 066004,China)
出处
《沈阳工业大学学报》
CAS
北大核心
2022年第1期90-94,共5页
Journal of Shenyang University of Technology
基金
国家自然科学基金项目(51267009).
