摘要
针对移动机器人研发过程中成本高、无硬件条件下无法对机器人运动进行控制的缺点,通过仿真实验的方法对移动机器人的关键技术进行了研究。首先,对移动机器人的定位展开研究,在ROS系统内使用gazebo工具构建室内2D环境及带有传感器的移动机器人模型,使用AMCL算法进行定位仿真实验。其次,对路径规划方法展开了研究,在MATLAB中使用A^(*)算法与DWA(动态窗口法)相结合的方法对移动机器人进行了仿真分析。最后,通过对实验结果的分析验证了AMCL(自适应蒙特卡洛)定位方法、A^(*)算法及DWA算法的有效性。
In view of the shortcomings of high cost and inability to control robot motion without hardware in the development process of mobile robot,the key technology of mobile robot is studied by simulation experiment.Firstly,the positioning of mobile robots is studied.Gazebo tool is used to build indoor 2D environment in ROS system,and mobile robot model with sensor is used to conduct positioning simulation experiment with AMCL algorithm.Secondly,path planning method is studied.In MATLAB,A^(*)algorithm and DWA(dynamic window method)are combined to simulate the mobile robot.Finally,the effectiveness of AMCL(adaptive Monte Carlo localization)method,A^(*)algorithm and DWA algorithm is verified by analyzing the experimental results.
作者
王立超
邢济收
戈伦
WANG Lichao;XING Jishou;GE Lun(Mechanical Electrical Engineering School,Beijing Information Science&Technology University,Beijing 100192,China)
出处
《机械工程师》
2023年第4期61-63,共3页
Mechanical Engineer
