基于ROS的室内导盲机器人设计

Design of Indoor Blind Guide Robot Based on ROS

分析当前国内盲人出行的需求,设计一种基于机器人操作系统(ROS)的室内导盲机器人。首先利用Cartographer-SLAM算法精确地提取金陵科技学院江宁校区科技楼3号楼6层的图像特征,通过这些特征不断地建立和完善二维栅格地图,结果表明:Cartographer-SLAM算法能够进行位姿优化,减少图像特征的重复率和误差累积,从而加快建图的速度。室内导盲机器人在接受导盲任务后,开始规划导盲路线,实行自主导航,从而安全正确地牵引盲人到达指定位置。设计的室内导盲机器人能够很好地发挥导盲作用,具有一定的实用价值。

Based on the analysis of the current domestic blind travel needs,an indoor blind guide robot based on robot operating system(ROS)is designed.Firstly,the Cartographer-SLAM algorithm is used to accurately extract the image features of the sixth floor of No.3,Science and Technology Building,Jiangning Campus,Jinling Institute of Technology.Through these features,the 2D grid map is constantly established and improved.The results show that Cartographer-SLAM algorithm can optimize the position and orientation,reduce the repetition rate and error accumulation of image features,and thus speeding up the mapping.After receiving the task,the indoor blind guide robot starts to plan the guide route and implement autonomous navigation,so as to safely and correctly guide the blind to the designated position.The designed indoor blind guide robot can play a good role in guiding the blind and has certain practical value.