摘要
针对室内自主移动机器人定位与路径导航的难题,从机器人开源操作系统ROS入手,对现实应用环境下的室内自主移动与导航机器人的关键技术展开研究,包括地图生成与定位技术、全局最优路径规划技术等。研究实现了基于激光SLAM算法的未知环境下的地图生成、基于蒙特卡洛算法的机器人自身定位以及基于A^(*)搜索算法的全局最优路径规划。基于ROS搭建系统实验平台,进行机器人自主移动与导航实验,验证系统的可行性。该系统具有功能包开源、各部分功能模块化、易于后期拓展等优点。
Aiming at the difficult problem of indoor autonomous mobile robot positioning and path navigation,starting from the robot open source operating system ROS,the key technologies of indoor autonomous mobile and navigation robot in real application environment is studied,including map generation and positioning technology,global optimal path planning technology,etc.Map generation in unknown environment based on laser SLAM algorithm,robot self-positioning based on Monte Carlo algorithm and global optimal path planning based on A^(*)search algorithm are studied.Based on ROS,a system experimental platform is built to conduct robot autonomous movement and navigation experiments to verify the feasibility of the system.The system has many advantages,such as open source function package,modular functions of each part,and easy later expansion.
作者
张明岳
ZHANG Mingyue(School of Electronics and Information,Xi'an Polytechnic University,Xi'an 710600,China)
出处
《微处理机》
2021年第5期45-48,共4页
Microprocessors
