基于ROS的远程车辆控制和目标跟随系统设计

Design of Remote Vehicle Control and Target Following System Based on ROS

针对机动车辆平台的远程控制,设计了一款基于ROS的远程车辆控制和目标跟随系统。对系统的整体架构进行了说明,并重点描述了基于ROS设计的通信框架,通过内部的各功能节点实现车辆端的感知、控制、通信功能。设计了操作人员端的控制界面,并使用UWB定位模块实现了车辆跟随指定目标的功能。系统经过测试能够实现预设功能,并具有较高的可移植性。

A remote vehicle control and target following system based on ROS is designed for remote control of the vehicle platform in this paper.The overall architecture of the system is described,and the communication framework designed based on ROS is mainly explained.The perception,control and communication functions of the vehicle side are realized through the internal functional nodes.The control interface of the operator is designed,and the function of the vehicle following the specified target is realized with the UWB location module.