基于ROS平台机器人导航避障系统设计与开发

Design and Development of Robot Navigation and Obstacle Avoidance System Based on ROS Platform

基于ROS工业机器人开源平台,应用C++语言进行了移动机器人导航避障系统的设计与开发。选用激光雷达作为位置传感器,融合视觉里程计、轮式里程计和IMU里程计三大里程计数据,采用传统定位与SLAM算法创建地图,应用AMCL算法准确确定移动机器人位置;对移动机器人使用A*算法进行全局路径规划、DWA算法进行局部路径规划,并且使用模糊BUG2算法作为核心算法实现局部避障器融入ROS规划系统中,应用C++语言开发程序,在移动机器人Robotino在地图上的两个点进行导航和避障测试。结果表明,只要合理设置机器人和障碍物之间相对运动速度,机器人可以规划出一条躲避缓慢移动障碍物、全局较优路径。

Abstract:Based on ROS industrial robot open source platform,the navigation and obstacle avoidance system is designed and developed using C++program language on the mobile Rototino.Laser radar is selected as the position sensor,the map is created by SLAM algorithm and traditional position which combines with these three major odometers data of visual odometer,wheel odometer and IMU odometer,then the position of mobile robot is accurately determined by AMCL algorithm.Using A*algorithm for global path planning and DWA algorithm for local path planning,the fuzzy BUG2 algorithm is used as the core algorithm to realize the integration of local obstacle avoidor into ROS planning system.The tests of navigate and avoid obstacles are carried out at two points of the mobile robot Robotino on the map using the C++language development program.The results show that the relative motion speed between the robot and the obstacle is reasonably set,the mobile robot can plan a globally optimal path to avoid obstacles slowly.