摘要
描述了一款名为I-RC的自主移动机器人平台,它具有四轮驱动和Ackermann转向结构,主要介绍了机器人系统的机械和电气设计,展示了最终的研究成果。该系统具有成本低、组装容易、软件开发方便等优点,该机器人可以作为自动驾驶验证平台进一步开发。该平台可以用于计算机相关专业的教学研究,可在此平台上进行自动控制、编程等教学实验。此机器人软件系统采用了ROS(机器人操作系统)作为开发环境。
This paper describes the design and development process of a mobile robot platform named as I-RC with4 WD and Ackermann steering structure.The platform mainly for educational purpose in computer science：including automation,programming,electronics,dynamics etc.For the purpose of simplification of teaching and algorithm verification,the robot software system is developed with ROS（Robot Operating System） for convenient software development.The assembling of the robotic system,with description of its structure as well as mechanical and electronical design,information about the STM32 programming and development are presented.The system has such advantages as low cost,easy assembly,convenient software development,etc.So,this robot can be used as a base for further development on SLAM,tracking,positioning etc.with the use of on-board sensors.
出处
《工业控制计算机》
2018年第8期65-66,共2页
Industrial Control Computer
