基于ROS的粮面巡检机器人导航系统设计

Design of Navigation System for Grain Inspection Robot Based on ROS

考虑到粮食具有散粒性,采用履带式机器人可以在粮面上平稳运行。设计一种基于机器人操作系统ROS和激光雷达的粮面巡检机器人导航系统,使用基于粒子滤波的Gmapping算法构建栅格地图。全局路径规划使用改进启发函数的蚁群算法,加速收敛速度获得最短路径,应用动态窗口算法以关键点作为中间目标点规划局部路径,实现路径规划以及实时避障功能。经过仿真实验证明,该方案可以准确建立地图,改进的导航算法能够进行路径规划和避障,该方案设计具有可行性和有效性。

Grain surface inspection robot plays an important role in maintaining grain security in granaries.Considering that the grain is granular,the crawler robot is used to ensure the smooth operation on the grain surface.This paper designs a navigation system of grain inspection robot based on robot operating system(ROS)and laser radar,and the grid map is constructed using the Gmapping algorithm based on particle filter.The global path planning uses the ant colony algorithm with improved heuristic function to accelerate the convergence speed and obtain the shortest path,local path planning uses dynamic window algorithm to plan the path with key points as intermediate target points to accomplish path planning and real-time obstacle avoidance.The tests have proved that that the robot can accurately establish a map,and the optimization navigation algorithm can plan paths and avoid obstacles.The proposed scheme is feasible and effective.