摘要
ROS是目前广泛采用的开源机器人控制软件架构平台,本文采用ros_control实现机制,设计了移动机器人控制架构,通过不同参数配置文件和定制化硬件接口协议,实现了适应不同硬件配置的移动机器人差速运动控制。
A robot may employ different techniques and control methods based on system requirements. Robot operating system(ROS) is a widely used open source software architecture platform for robot control. In this study, a mobile robot control architecture is designed based on the ros_control implementation mechanism. Using different parameters in configuration files and customized hardware interface protocols, the differential drive control of mobile robots can be adjusted to suit different hardware configurations.
作者
刘广亮
刘成业
郑江花
LIU Guang-liang;LIU Cheng-ye;ZHENG Jiang-hua(Institute of Automation,Shandong Academy of Sciences,Provincial Key Laboratory of Robot and Manufacturing Automation Technology,Qilu University of Technology (Shandong Academy of Sciences),Jinan 250014,China)
出处
《山东科学》
CAS
2019年第4期107-113,共7页
Shandong Science
基金
山东省重点研发计划(2017CXGC0916)
山东省科学院院地产学研协同创新基金
