基于ROS和激光雷达的室内移动机器人定位和导航系统设计与实现

Design and Implementation of Indoor Positioning and Navigation System of Mobile Robot Based on ROS and LiDAR

根据自主运动机器人的室内定位需求,设计并实现基于机器人操作系统ROS和激光雷达的室内移动机器人定位和导航系统。机器人系统采用树莓派控制器作为控制核心平台,利用激光雷达采集环境信息,在ROS分布式框架下进行软件算法的开发,实现基于扫描匹配算法的SLAM功能、基于最优路径算法路径规划以及基于粒子滤波算法的导航功能。理论仿真及实验实测结果表明,系统可构建精度较高的环境地图,并对机器人进行定位,有效完成室内定位和导航任务,具有低成本、开源、模块化、易于拓展等优点。

According to the requirements of indoor positioning of autonomous robots,an indoor mobile robot positioning and navigation system based on ROS and LiDAR was designed and implemented.The robot system uses Raspberry Pi as the core controller of the platform with LiDAR collecting environment information.The system was developed under the distributed framework of ROS to achieve the SLAM based on scan matching algorithm,the path plan function based on Dijkstra algorithm and the navigation function based on particle filter.The results of theoretical simulation and real experimental measurement show that the system can construct a high precision environment map,locate the robot precisely and effectively complete the indoor positioning and navigation tasks with the characteristics of low cost,open source,modularization,and easy expansion.