基于ROS的自主移动机器人路径规划虚实结合实验平台

Virtual reality combination experimental platform of path planning for autonomous mobile robot based on ROS

路径规划是人工智能与机器人工程专业本科生“智能机器人与无人系统”课程的重要内容,具有理论性与实践性强及知识更新快等特点。为了使学生直观深入地掌握该知识点,该文以机器人操作系统ROS为基础,搭建了一套虚实结合的移动机器人路径规划实验平台。该平台的仿真客户端采用模块化方法将移动机器人、多种全局与局部路径规划算法及典型动态环境地图集成到虚拟仿真平台中,同时设计人机交互界面对仿真平台与真实移动机器人进行控制与参数显示。进一步,通过ROS节点通信机制实现仿真平台与真实移动机器人之间的信息交互,实现仿真客户端对机器人的控制与信息传递。最后,以Turtlebot2移动机器人为对象,开展路径规划算法的仿真与实验以对平台进行验证。

Path planning is an important part of the course“Intelligent robots and unmanned systems”for undergraduates majoring in artificial intelligence and robotics engineering,which has the characteristics of strong theory and practice and fast knowledge update.In order to enable students to intuitively and deeply grasp this knowledge point,a set of mobile robot path planning experimental platform combining virtual and real is built based on the robot operating system ROS in this paper.The simulation client adopts a modular method to integrate the mobile robot,various global and local path planning algorithms and typical dynamic environment maps into the virtual simulation platform,and a human-machine interface is designed to control and parameterize the simulation platform and the real mobile robot.Further,the information interaction between the simulation platform and the real mobile robot is realized through the ROS node communication mechanism,and the control and information transmission of the simulation client to the real robot are realized.Finally,taking the Turtlebot2 mobile robot as the object,the simulation and experiment of the trajectory planning algorithm are carried out to verify the platform.