基于ROS的智能代步车嵌入式运动控制系统

Embedded Motion Control System of a Intelligent Car Instead of Walking Based on ROS

针对目前智能代步车运动控制系统功耗高、体积大和开发成本高和工作量大等不足,提出一种基于机器人操作系统(Robot Operating System,ROS)的智能代步车嵌入式运动控制系统。该运动控制系统将ROS移植到arm嵌入式板卡,将arm作为中央处理器,运用ROS中的导航功能包实现智能代步车的地图建立、路径规划、室内外自主导航、运动控制等功能,最后通过仿真实验验证了该运动控制系统的可行性。

In view of some outstanding problems of intelligent electronic scooters,such as the high power consumption,the huge size,the high development costs and heavy workload,the paper proposes an embedded motion control system based on the Robot Operating System（ROS）for intelligent electronic scooters the ROS was ported to the arm embedded board which is used as the central processor in the embedded motion control system.Functions like map building,route planning,indoor and outdoor autonomous navigation and motion control are implemented through the ROS navigation function package.At the end of the paper,the feasibility of the motion control system is verified through the simulation experiments.