基于EtherCAT的ROS全向移动导航系统

Omni-directional mobile navigation system based on ROS and EtherCAT

为了缩短机器人全向移动导航系统的开发周期,提高代码复用率和移植性,选用具有良好开源性并采用分布式架构的机器人操作系统(robot operating system,ROS)作为研发平台;鉴于传统总线协议不统一、实时性差及应用较为复杂,提出采用Linux下的IgH主站实现控制器和驱动器之间的EtherCAT(ether control for automation technology,用于控制自动化技术的以太网)通信。首先,选取合适的任务周期并将IgH主站与ROS平台进行融合;然后,对全向移动平台进行运动学建模,建立了URDF(unified robot description format,统一的机器人描述格式)模型和里程计模型,并结合ROS提供的Navigation功能包集,设计了开放性好、代码复用率高且性能稳定的全向移动导航系统。研究表明,该系统结构简单、同步性好、成本低且能有效实现自主精准导航功能。研究结果为实现全向移动机器人的精准控制提供了新方法。

In order to shorten the development cycle of omni-directional mobile navigation system of robots and improve the reusability and portability of codes,the ROS(robot operating system)with open source and distributed architecture was used as the research platform.In view of the inconsistency of protocol,poor real-time performance and complex application of traditional bus,the IgH master station under Linux was proposed to conduct EtherCAT(ether control for automation technology)communication between the control system and drivers.Firstly,an appropriate task period was selected,and the IgH master station was integrated with ROS platform.Then,kinematics modeling of omni-directional mobile platform was establish.By establishing URDF(unified robot description format)model and odometry model and combining the Navigation function package provided by ROS,an omni-directional mobile navigation system with good openness,high code reusability and stable performance was developed.The research showed that the navigation system could effectively realize autonomous navigation,with the advantage of simple structure,excellent synchronization and low cost.The research result provides a new method for the precision control of omni-directional mobile robot.