基于ROS的多移动机器人协同承重与导航

Collaborative Load-bearing and Navigation of Multiple Mobile Robots Based on ROS

随着多移动机器人协同技术的蓬勃发展,多移动机器人协同搬运也逐渐成为研究热点。然而相关的研究大多对环境等要求苛刻,考虑到现实应用需求,提出了在狭窄空间下,多移动机器人协同承重导航的解决方案。为实现协同承重,采用了基于距离的编队控制方法,同时为了保证有效载荷的水平姿态,实时监控了载荷的姿态信息并计算调整了每个机器人直线电机高度。为实现机器人系统的导航功能,通过建图定位的方式获取全局位置,计算得到最优路径。最后,通过ROS环境下的仿真实验验证了该方案的可行性与有效性。

With the vigorous development of the collaborative technology of multiple mobile robots,the research on collaborative handling of multiple mobile robots has gradually become a research hotspot.However,most of the related researches are relatively harsh on the environment and other requirements.Considering the actual application requirements,a solution for collaborative load-bearing navigation of multiple mobile robots in a narrow space is proposed.In order to achieve collaborative load-bearing,a distance-based method is adopted for formation control.At the same time,in order to ensure the horizontal posture of the payload,the posture information of the load is monitored in real time,and the height of each robot linear motor is calculated and adjusted.In order to realize the navigation function of the robot system,the global position is obtained by mapping and positioning,and the optimal path is calculated.Finally,the feasibility and effectiveness of the scheme are verified through simulation experiments under the ROS environment.