Turtlebot2机器人环境地图构建与多目标点自主导航的研究

Research on turtlebot2 Robot Environment Map Building and Multi-target Point Autonomous Navigation

Turtlebot2机器人利用地图执行多点目标导航任务,用户一次只能发布单个目标给下位机,并不能实现机器人进行多目标点自主导航,针对此问题,设计了让机器人多目标点自主导航的方法。首先进行激光雷达坐标系与机器人坐标系变换,激光雷达数据采集,利用雷达数据和栅格地图构建算法构建实验地图,通过查看/amcl_pose话题信息获取在map坐标系几个点的位置信息,编写ROS节点程序,订阅move_base动作服务,发布控制机器人控制消息,实现机器人多点自主导航。

turtlebot2 robots use maps to implement multi-point autonomous navigation tasks.Each time the user can only issue a single target to the lower computer at a time in this process,the robot can not perform automatic navigation for multiple target points.In response to this problem,a method was designed to allow the service robot to perform multi-target autonomous navigation.First,the laser radar coordinate system and the robot coordinate system were transformed and the radar data was collected,and then the data and the raster map construction algorithm were used to construct the experimental map.By viewing the/amcl_pose topic information,the location information of several points in the map coordinate system was obtained,with the ROS node program written and the move_base action service subscribed.The control robot control message was released to realize the robot multi-point autonomous navigation.