摘要
为了验证激光导航的先进性及机器人操作系统(robot operating system,ROS)的便捷性,进一步对机器人导航机理进行研究,提出了改进粒子滤波算法及改进A*路径规划,分别应用于地图构建和路径规划,并搭建了基于ROS平台的移动机器人导航试验平台,该平台具有低成本、高性能的特点。试验平台由上位机和移动机器人组成,上位机实现对机器人的控制,移动机器人配置有工控机和激光传感器,机器人通过激光传感器采集环境信息,为实现即时定位及地图构建功能提供数据支撑。研究并构建基于ROS的地图构建和自主导航功能包并通过实际环境进行试验验证。试验结果表明:构建功能包可用于机器人的激光导航中,该激光导航系统的可行且具有一定的稳定性与可靠性。
In order to verify the advancement of laser navigation and the convenience of robot operating system(ROS),the improved particle filter algorithm and A*path planning were proposed,which were respectively applied to map construction and path planning.And then the navigation test platform for mobile robots based on ROS platform was established,which had the advantage of low-cost and high-performance.The experimental platform was consists of two parts:upper computer and mobile robot.The mobile robot was controlled by upper computer.The mobile robot was equipped with industrial PC and laser sensor.The environmental information was collected through laser sensors,which can provide data support for real-time positioning and map construction.The map building and autonomous navigation function package based on ROS was studied and constructed.And then the system was tested in the actual environment.The experimental results show that the function package constructed can be used in the laser navigation of robot.And the laser navigation system is feasible and had certain stability and reliability.
作者
孙巍伟
王晗
黄民
SUN Wei-wei;WANG Han;HUANG Min(School of Mechanic and Electric Engineering,Beijing Information Science & Technology University,Beijing 100192,China)
出处
《科学技术与工程》
北大核心
2019年第20期203-210,共8页
Science Technology and Engineering
基金
国家重点研发计划(2017YFB1304004-04)
北京市科技计划智能制造技术创新与培育专项(Z171100000817006)
北京市属高校高水平创新团队建设计划项目(IDHT20180513)资助
