基于SLAM的自主探测救援机器人

Autonomous Exploration and Rescue Robot Based on SLAM

本项目研究基于即时定位与地图构建的探测救援机器人,采用STM32F103RCT6作为运动底层、jetson nano作为探测上层。整个机器人采用轮式小车作为载体,使用麦克纳姆轮实现电机速度PI环和位置PID环双闭环控制,利用MPU-6050实时检测小车位姿,热成像仪分析环境信息,比对温度寻找待救援人员,激光雷达A1提供数据用于SLAM算法构建实时环境信息,并搭建地图。机器人实现未知地图构建,并实时检测环境待救援人员信息。

In The detection and rescue robot based on real-time positioning and map construction(SLAM) studied in this project adopts STM32 F103 RCT6 as the bottom layer of motion and Jetson Nano as the upper layer of detection. The whole robot uses a wheeled trolley as the carrier, uses the Mecanum wheel to realize the double closed-loop control of the motor speed PI loop and the position PID loop, uses the MPU-6050 to detect the position and attitude of the trolley in real time, analyzes the environmental information with a thermal imager, and compares the temperature to find the rescue. Personnel, LiDAR A1 provides data for SLAM algorithms to construct real-time environmental information and build maps. The robot realizes the construction of unknown maps, and detects the information of people to be rescued in the environment in real time.