摘要
阿克曼运动结构在无人驾驶,物流配送等领域有着非常广阔的应用场景。本文利用ROS系统制作了基于阿克曼转向结构的室内移动机器人系统,实现了系统的运动控制、建图、定位、导航等功能。最后通过对比实验验证阿克曼机器人功能,根据实验结果针对系统精度不高的问题进行了优化,并根据阿克曼转向结构的特点采用TEB算法对系统进行局部路径规划。
Ackermann motion structure has very broad application in unmanned driving,logistics,and other fields.Aiming at this structure,this work uses a ROS system to make an indoor mobile robot system based on Ackerman steering structure,and realizes the system motion control,mapping,positioning,navigation,and other functions.Finally,the function of the Ackerman robot is verified through comparative experiments,and the system is optimized to improve accuracy according to the experimental results.Moreover,according to the characteristics of the Ackerman steering structure,the timed elastic band algorithm is used for the local path planning of the system.
作者
盖军雄
雷晓春
江泽涛
GAI Junxiong;LEI Xiaochun;JIANG Zetao(School of Computer Science and Information Security,Guilin University of Electronic Technology,Guilin 541004,China;Guangxi Key Laboratory of Image and Graphic Intelligent Processing,Guilin University of Electronic Technology,Guilin 541004,China)
出处
《中国体视学与图像分析》
2021年第3期215-225,共11页
Chinese Journal of Stereology and Image Analysis
基金
国家自然科学基金(61876049,61762066)
