摘要
该文设计了一套基于开源机器人操作系统(ROS)和激光雷达的移动机器人控制系统方案,以满足当前室内机器人在定位与地图构建上的需求。该系统以开源卡片式电脑树莓派3B+为核心控制器,使用STM32作为驱动控制板,在Linux系统下使用ROS分布式框架下进行软件算法的开发。根据机器人的状态和用户命令可实现人机交互、SLAM地图扫描绘制、WiFi远程控制、即时定位和室内导航的功能。实际调试结果表明,系统能够构建出与实际环境差别较小的特征图,并对平台实时位置进行精确的定位,能有效完成定位和导航的任务。
This paper designs a set of mobile robot control system solutions based on open source robot operating system(ROS)and lidar to meet the needs of current indoor robots in positioning and map construction.This system uses the open source card computer Raspberry Pi 3B+as the core controller,uses STM32 as the drive control board,and uses the ROS distributed framework to develop software algorithms under the Linux system.According to the state of the robot and user commands,it can realize the functions of human-computer interaction,SLAM map scanning and drawing,WiFi remote control,instant positioning and indoor navigation.The actual debugging results show that the system can construct a feature map with a small difference from the actual environment,and accurately locate the real-time position of the platform,which can effectively complete the positioning and navigation tasks.
作者
董明泽
韩雨薇
许凯成
段睿劼
朱天宇
DONG Mingze;HAN Yuwei;XU Kaicheng;DUAN Ruijie;ZHU Tianyu(Liangxin College,China Jiliang University;College of Mechanical and Electrical Engineering,China Jiliang University,Hangzhou,Zhejiang Province,310018 China)
出处
《科技资讯》
2020年第31期31-33,共3页
Science & Technology Information
