基于激光雷达的ROS服务机器人自动避障系统设计与实现

Design and Implementation of Automatic Obstacle Avoidance System for ROS Service Robot Based on LiDAR

针对ROS服务机器人的自动避障问题,以装载RPLidar A2型激光雷达的ROS服务机器人为例,对比分析了激光雷达与其他距离传感器的优缺点,本文提出了一种基于激光雷达的ROS服务机器人避障系统的设计与开发方法,并通过机器人控制实验验证了设计方法的正确性和可行性,对智能服务机器人的复杂项目开发具有一定的参考意义和推广价值。

Aiming at the automatic obstacle avoidance problem of ROS service robot,this paper takes the ROS service robot equipped with RPLidar A2LiDAR as an example,compares and analyzes the advantages and disadvantages of LIDAR and other distance sensors,and proposes a design and development method of the obstacle avoidance system of ROS service robot based on LIDAR.The correctness and feasibility of the design method are verified by the robot control experiment,which has certain reference significance and popularization value for the complex project development of intelligent service robots.