基于SLAM技术的双控制器智能机器人

A Dual Controller Intelligent Robot Based on SLAM Technology

为了实现未知环境下的地图构建、定位、导航、路径规划和室内环境检测与控制等功能,基于机器人操作系统(ROS),设计了一套智能移动机器人研究平台,使用机器人携带的激光雷达传感器、惯性测量元件(IMU)、超声波和深度相机感知外界环境信息,通过里程计获取自身位移信息,采用卡尔曼滤波对传感器数据进行滤波处理,利用即时定位与建图(SLAM)技术进行地图构建和局部路径规划。机器人在导航过程中利用蒙特卡洛定位方法可以实时确定机器人姿态,将机器人的位置信息和采集到的环境特征信息映射到2D网格地图中实现地图构建。在局部路径规划的过程中,通过编码器设备采集加速度和角速度信息,获取实时的速度和姿态,利用构建的地图来进行局部路径规划。实验测试表明,设计的基于SLAM技术的双控制器智能机器人能够构建较高精度的环境地图、实现室内定位和导航。

In order to realize the map construction,positioning,navigation,path planning and indoor environment detection and control in an unknown environment,a set of intelligent mobile robot research platform is designed based on the robot operating system(ROS).We use lidar sensors,inertial measurement elements(IMU),ultrasonic and depth camera carried by robots to perceive external environmental information,obtain its own displacement information with odometer,filter the sensor data according to Kalman filter,and use real-time positioning and built figure(SLAM)technology for map building and local path planning.In the process of navigation,the Monte Carlo positioning method can be used to determine the robot’s attitude in real time,and map the position information of the robot and the collected environmental feature information to the 2D grid map to realize the map construction.In the process of local path planning,acceleration and angular velocity information are collected by encoder equipment to obtain real-time velocity and attitude,and local path planning is carried out by using the constructed map.The experiment shows that the intelligent robot with two controllers based on SLAM technology can construct high-precision environment map and realize indoor positioning and navigation.