摘要
本文设计了一种基于机器人操作系统(ROS)和EtherCAT的双舵轮全向移动机器人控制系统。首先建立双舵轮对角驱动移动机器人运动学模型;采用Xenomai实时内核和IgHEtherCAT主站技术设计机器人底层驱动;在ROS平台下,以movebase为核心设计机器人导航规划层,导航数据源由惯性测量单元、编码器和激光雷达获取;利用Qt设计远程客户端人机界面,主要包含控制窗口和数据库等界面;最后,针对构建的全向移动机器人进行自主导航实验,实验结果验证了所设计系统的实用性。
An omnidirectional mobile robot control system is designed based on robot opertating system(ROS)and EtherCAT.First,the kinematic model of the two-steering-wheel mobile robot is established,and using Xenomai real-time kernel and IgHEtherCAT master to achieve the low-level driver of the robot.Under the ROS platform,the navigation layer of control system is constructed based on move-base,and the navigation data resource is obtained by inertial measurement unit,motor encoder and lidar.Based on Qt framework,remote client-sidehuman-machine interface is developed,mainly including the control window and database interface.Finally,the autonomous navigation experiment is carried out for the omnidirectional mobile robot,and the experimental results verify the practicability of the designed system.
作者
徐建明
吴小文
蔡奇正
倪洪杰
Xu Jianming;Wu Xiaowen;Cai Qizheng;Ni Hongjie(School of Information Engineering,Zhejiang University of Technology,Hangzhou 310023)
出处
《高技术通讯》
CAS
2021年第7期738-746,共9页
Chinese High Technology Letters
基金
国家自然科学基金-浙江省自然科学基金联合基金两化融合项目(U1709213)
国家自然科学基金面上项目(61374103)资助。
