基于ROS的履带式机器人自主建图与路径规划研究

针对农业履带式移动采摘机器人在自主采摘作业中的自主建图与路径规划性能,该文致力于研究基于ROS开发的履带式移动采摘机器人的自主建图与路径规划系统。通过在履带式移动采摘机器人的底盘上方装配激光雷达及姿态传感器用来获取周边环境的信息和机器人的运动信息,再通过Gmapping算法搭建机器人周边环境的全局栅格地图。对于机器人的路径规划功能,最终通过A*算法实现全局路径规划,通过DWA算法实现局部避障功能。最后选取实验室外部走廊作为履带式移动采摘机器人自主建图和路径规划的实验场地,实验结果表明该履带式移动采摘机器人能够进行自主建图并进行路径规划,躲避周边出现的障碍物,并最终到达指定目标地点,满足自主导航需求。

Aiming at the autonomous mapping and path planning performance of agricultural tracked mobile picking robot in autonomous picking operation,this paper focuses on the autonomous mapping and path planning system of agricultural tracked mobile picking robot based on ROS.The LiDAR and attitude sensor are assembled above the chassis of the tracked mobile picking robot to obtain the information of the surrounding environment and the motion information of the robot,and then the global grid map of the surrounding environment of the robot is built by Gmapping algorithm.For the path planning function of the robot,the global path planning is realized by A*algorithm,and the local obstacle avoidance function is realized by DWA algorithm.Finally,the outer corridor of the laboratory is selected as the experimental site for autonomous mapping and path planning of the tracked mobile picking robot.The experimental results show that the tracked mobile picking robot can carry out autonomous mapping and path planning.Avoid the surrounding obstacles,and finally reach the designated target location to meet the needs of autonomous navigation.