基于ROS的服务机器人关键技术研究与实现

The Research and Implementation of Key Technologies of Service Robot Based on ROS

针对服务机器人服务业务的无监督实现问题,设计并实现了一种基于ROS(机器人操作系统)的智能服务机器人系统。该系统包括管理中心、机器人本体和客户端,采用基于ROS系统的node节点分布式架构。管理中心由服务器组成,管理中心是任务管理与执行调度的核心组成部分,负责对系统内各种资源进行管理和调度,机器人本体使用高性能核心处理器搭载环境传感器,通过基于EKF(扩展卡尔曼滤波)的SLAM算法解决移动机器人导航问题,客户端与机器人本体的信息交互采用基于rosbridge的节点通信技术。机器人系统通过语音交互技术实现了语音自主导航。本设计在实验室环境采用Turtlebot机器人进行实际测试,测试结果表明本方案可以初步实现机器人基础服务场景中的自主定位与导航及语音控制功能。

Aiming at the unsupervised implementation of service robot service business,an intelligent service robot system based on ROS(Robot Operating System)is designed and implemented.The system includes management center,robot ontology and client,and adopts node node distributed architecture based on ROS system.Robot ontology uses high-performance core processor to carry environmental sensors.SLAM algorithm based on EKF(Extended Kalman Filter)is used to solve the navigation problem of mobile robots.Rosbridge-based node communication technology is used for information interaction between client and robot ontology.Robot system realizes speech autonomous navigation through voice interaction technology.The design uses Turtlebot robot to test in the laboratory environment.The test results show that the scheme can initially realize autonomous positioning,navigation and voice control functions in the basic service scenario of the robot.