基于ROS的移动机器人多目标点导航的实现

Realization of Multi-objective Navigation of Mobile Robot Based on ROS

移动机器人的多目标点导航功能是机器人在执行配送与巡检等任务中不可或缺的功能之一,人们通常需要机器人能过依次序到达多个目标点。针对机器人的多目标点导航问题,对ROS(机器人操作系统)的自主导航功能包进行了研究,设计了基于ROS的移动平台,并在该平台上实现了机器人多目标点的自主导航功能。实验结果表明,在给定多个目标点之后,该移动机器人可以顺利的按照给定的目标信息进行依次自主导航。为机器人的多目标点自主导航提出了一套可行的方案。

The multi-target navigation function of mobile robots is one of the indispensable functions of robots in performing tasks such as distribution and inspection. People usually need robots to sequentially reach multiple target points. For the multi-target navigation of robots, the autonomous navigation function package of ROS（Robot Operating System） was studied, and a mobile platform based on ROS was designed. On this platform, the multi-target autonomous navigation function of the robot was realized. Experimental results show that after given multiple target points, the mobile robot can smoothly follow the given target information in order to autonomously navigate. A set of feasible solutions was proposed for multi-objective autonomous navigation of robots.