ROS差速小车运动控制研究

Research on Motion Control of ROS Differential Car

该文从机器人的自动驾驶应用的角度出发,在Ubuntu18.04系统下实现了一套基于ROS Melodic版本的机器人操作系统的移动机器人控制平台。在一个完整的机器人运动控制的设计中包括建图、定位、路径规划及路径追踪这4个步骤,平台首先以Gmapping方法构建出全局地图。由于路径规划与追踪对于机器人的运动控制非常重要,在进行各种方法的比较之后最终运用Dijkstra算法规划出一条全局路径然后采用DWA路径局部规划器进行局部动态避障,在运动控制方面也加入了PID控制器使机器人的转向更加平滑。

From the perspective of robot autopilot application,a mobile robot control platform based on ROS Melodic version of robot operating system is realized under Ubuntu 18.04 system.The design of a complete robot motion control includes four steps:mapping,positioning,path planning and path tracking.Firstly,the platform constructs the global map by Gmapping method.Because path planning and tracking are very important for robot motion control,after comparing various methods,Dijkstra algorithm is finally used to plan a global path,and then DWA path local planner is used for local dynamic obstacle avoidance.PID controller is also added in motion control to make the steering of robot more smooth.