ROS机器人室内导航定位的设计与实现

Design and implementation of indoor navigation and positioning of ROS robot

如今,在科技发展下,互联网的高速发展衍生出了许多新兴技术和行业。智能化的发展在各个领域中不断涌现,如今智能化已是社会发展的必然趋势,而“人工智能”“机器学习”就是其中的热门话题。目前,ROS技术也得到了广泛应用,ROS被称为机器人操作系统平台,对实现机器人各个组件的通信有着完善的通信机制。而随着时间的推移,ROS的强大让十分复杂的机器人变得越来越简单,基于ROS的机器人解决了组件之间的通信速率问题。文章对机器人的自主学习导航定位进行了研究,利用ROS机器人的激光雷达对室内环境构建栅格地图,并使用SLAM定位等关键技术对位置进行即时定位与地图构建。该课题的研究不仅可以促进ROS机器人的进一步发展,还可以为一些GPS不能覆盖或者覆盖较差的区域提供有力的支持,并且具有重要的理论和实际意义。

Nowadays,with the development of technology,the rapid development of the Internet has spawned many emerging technologies and industries.The development of intelligence is constantly emerging in various fields.Nowadays,intelligence has become an inevitable trend in social development,and"artificial intelligence"and"machine learning"are hot topics among them.At present,ROS technology has also been widely applied,known as the robot operating system platform,which has a complete communication mechanism for solving the communication of various components of robots.Over time,the power of ROS has made very complex robots simpler and simpler,and ROS based robots have solved the communication rate problem between components.The design of this paper will study the autonomous learning navigation and positioning of the robot,use the laser radar of the ROS robot to build a grid map of the indoor environment,and use SLAM positioning and other key technologies to carry out real-time location and map building.The research of this topic not only promotes the further development of ROS robots,but also provides strong support for areas that cannot be covered or have poor coverage by GPS,and has important theoretical and practical significance.