基于ROS的全向移动机器人控制系统的设计与实现

Design and Implementation of Omni-directional Mobile Robot Control System Based on ROS

文章基于开源机器人操作系统(ROS)设计了一套低成本、高性能的移动机器人控制系统方案。该方案基于分层控制的理念将移动机器人的控制系统分为应用层、决策与规划层和运动控制执行层,各层次功能明确,层次间低耦合,易于移植和维护。应用层融合了物联网技术解决了移动机器人平台与用户端的通信问题;决策与规划层基于ROS实现机器人的即时定位与地图构建,并根据机器人状态以及用户命令实现机器人室内导航功能;运动控制执行层基于Free RTOS实时操作系统实现对机器人运动状态的实时控制,并采用了三轮全向移动的控制方式,运动方式更加灵活。

Based on the open source robot operating system(ROS),this paper designs a control system of mobile robot which has low cost and high performance.Based on the concept of hierarchical control,the mobile robot's control system is divided into application layer,decision-making and planning layer and motion control execution layer.Each level has specific function,low coupling between layers,easy to transplant and maintain.Application layer fuses the Internet of Things technology to solve the communication problem between the mobile robot platform and the client.Decision-making and planning layer implements simultaneous localization and mapping based on ROS,and implements the robot's indoor navigation function according to the robot's status and user's commands;The motion control execution layer realizes the real-time control of the robot movement state based on the FreeRTOS real-time operating system,and adopts the three-wheel omnidirectional movement control mode,the movement mode is more flexible.