摘要
移动机器人同时定位与建图(SLAM-Simultaneous Locating And Mapping)与路径规划是实现智能化机器人的前提。该系统首先通过HCR(Home Care Robot)机器人搭载激光雷达和RGB-D传感器,在ROS的运行环境下,分别实现基于ORB-SLAM2和RGB-D SLAM算法框架的同时定位与建图,获取三维点云图。然后将三维点云图与激光雷达生成的二维平面图进行数据融合,得到含有较丰富环境信息的环境二维栅格地图,并利用A*算法路径搜索算法,对机器人进行路径规划。实验结果表明融合了环境三维点云信息的地图,更适合用于路径规划。
Mobile robot simultaneous locating and mapping(SLAM) and path planning are the prerequisites for realizing intelligent robots. In this system, the HCR(Home Care Robot) robot was equipped with Lidar and an RGB-D sensor. In the ROS operating environment, the SLAM Based on the ORB-SLAM2 and RGB-D SLAM algorithms were implemented respectively and three-dimensional point cloud map was generated. Then, the three-dimensional point cloud map was combined with the two-dimensional map generated by the Lidar to get a grid map with the rich environment information. Finally, the A * algorithm path search algorithm was applied to plan the path for the robot. Experiment results show that the grid map which integrates the three-dimensional cloud information is more suitable for path planning.
出处
《电脑知识与技术》
2017年第11X期24-26,37,共4页
Computer Knowledge and Technology
