基于ROS的机器人室内巡检技术仿真

Simulation Research of Robot Indoor Inspection Technology Based on ROS

针对传统巡检机器人在进行巡检时缺乏自主环境感知能力以及无法自主规划路径的问题,提出基于开源机器人操作系统(robot operating system,ROS)融合同时定位与建图(SLAM)、路径规划(path planning)技术进行室内机器人巡检应用的仿真研究思路。首先建立室内巡检机器人模型及仿真地图环境,然后对应用于机器人巡检的关键算法进行分析与选择,最后基于ROS构建室内巡检机器人试验平台,并对巡检过程中所提出的关键技术进行仿真研究。结果表明:基于ROS的室内机器人系统的定位与建图算法以及路径规划算法可靠性较高,实用性强,可以有效应用于室内巡检中。

For the problem of lacking the ability of autonomous environment perception and the autonomous path planning in traditional robot,a simulation research on inspection of indoor robot based on Robot Operating System（ open source robot operating system） and fuses simultaneous localization and mapping（ SLAM） and path planning（ Path Planning） technology was proposed.Firstly,the indoor robot model and the simulation map environment was established. Then,the key technologies such as simultaneous location and mapping and path planning are proposed to be applied in robot indoor inspection. Finally,the test platform of indoor inspection robot based on ROS was constructed and the key technologies in the process of inspection was simulated and studied. Resultsshow that the location mapping algorithm and path planning algorithm of indoor robot system based on ROS have the advantages of high reliability and practicability,and it can be effectively used in indoor inspection.