基于ROS的室内物流车设计与实现

Design and implementation of an indoor logistics vehicle based on ROS

随着智能机器人技术越来越纯熟,作为物流仓储行业中尤为重要的物流机器人得到了普遍发展,机器人、智能车等智能控制系统开始在搬运、分拣、识别等工作领域发挥重要作用。设计一个用于运输室内物件的智能车,在硬件层,选取NVIDIA Jetson TX2作为物流车系统的主控制器,使用ARM STM32F407VGT6作为系统的协控制器,采用Velodyen16线激光雷达作为地图构建的传感器,选用MPU6050作为惯性测量单元。在算法层,采用机器人操作系统(robot operating system,ROS)的即时定位与地图构建(simultaneous localization and mapping,SLAM)算法实现室内建图,采用A*算法实现全局路径规划功能,采用动态窗口法(dynamic window approach,DWA)算法实现局部路径规划功能,通过全局和局部的路径规划可在室内实现避障以及导航功能。此外该智能车还具有温湿度检测和低电量检测功能。系统测试表明,该系统能够达到在室内运输物件的目的,对今后深入研究智能机器人领域有意义。

With the development of intelligent robot technology,as the most important logistics robot in the logistics and storage industry,it has been widely developed.Intelligent control systems such as robot and intelligent vehicle begin to play an important role in the fields of transportation,sorting and identification.In the hardware layer,NVIDIA Jetson TX2 is selected as the main controller;ARM STM32F407VGT6 is used as the co-controller;Velodyen16 line laser radar is used as the sensor of map construction and mpu6050 is selected as the inertial measurement unit.In the algorithm layer,the Simultaneous Localization and Mapping(SLAM)of Robot Operating System is used to realize the indoor map building.The global path planning function is realized by A*algorithm,and the local path planning function is realized by Dynamic Window Approach algorithm(DWA).Through global and local path planning,obstacle avoidance and navigation functions can be realized indoors.In addition,the intelligent vehicle also has the functions of temperature and humidity detection and low power detection.System test shows that the system can achieve the purpose of indoor transportation of objects,which is significant for further research in the field of intelligent robots.