基于ROS的全向移动机器人定位导航系统研究

Research on Location and Navigation System for Omnidirectional Mobile Robot Based on ROS

针对传统移动机器人自主运行能力不足及系统设计困难的问题,以自行设计的四麦克纳姆轮全向移动机器人为研究对象,根据层次化和模块化的思想建立了基于混合硬件架构的全向移动机器人定位导航系统的总体设计框架,建立了基于机器人操作系统ROS(Robot Operating System)的实验平台,分析了基于激光雷达的移动机器人Fast-SLAM算法,通过搭建软硬件系统,对机器人的即时定位与地图构建功能进行了测试,对路径规划能力进行了实验。结果表明,该系统能够实现全向移动机器人在未知环境下地图的实时构建,且拥有良好的全局导航及局部避障能力。研究成果对全向移动机器人定位导航系统的研究具有一定参考价值。

Aiming at the problem of insufficient autonomous operation ability and difficult system design of traditional mobile robots,taking self-designed omnidirectional mobile robots with four mecanum wheels as the research object,the overall design framework of omnidirectional mobile robots positioning and navigation system based on hybrid hardware architecture was established according to the idea of hierarchy and modularization,and the Robot Operating System(ROS)was established.On the experimental platform of ng System,Fast-SLAM algorithm of mobile robot based on lidar is analyzed.The real-time positioning and map building functions of the robot are tested by building hardware and software system,and the path planning ability is analyzed experimentally.The results show that the system can realize the real-time map construction of omnidirectional mobile robot in unknown environment,and has good global navigation and local obstacle avoidance ability.The research results have certain reference value for the research of orientation and navigation system of omnidirectional mobile robot.