基于ROS的智能割草机器人导航控制系统设计

Navigation Control System Design for Intelligent Mowing Robot Based on ROS

为提高传统割草机的智能化水平,本文设计了差速驱动底盘的割草机器人导航控制系统。基于机器人操作系统ROS,实现了底盘驱动、GNSS数据采集、IMU数据采集等功能。针对系统的定位精度和定位频率较低的问题,采用扩展卡尔曼滤波算法将低成本的GNSS和IMU的定位信息进行融合,提高了定位精度与定位频率。采用基于预瞄准的纯路径追踪算法,实现了底盘运行轨迹的自主追踪。通过搭建智能割草机器人导航控制系统平台开展实验验证,结果表明导航控制系统运行稳定可靠,轨迹追踪精度平均为0.11m,满足作业要求。

To improve the intelligence degree of traditional lawn mowers,a navigation control system for lawn mowers with differential drive chassis is designed in this paper.Based on the ROS robot operating system,functions such as chassis drive,GNSS data acquisition,and IMU data acquisition have been implemented.For the problem with the system of low positioning precision and frequency,the extended Kalman filter algorithm was applied to integrate the localization information of the low-cost GNSS and IMU,thus improving the precision and frequency.The pure path tracing algorithm based on pre aiming was utilized to realize the autonomous tracking of the chassis running track.Experimental verification was conducted by establishing an intelligent lawn mowing robot navigation control system platform.The results showed that operation of the navigation control system was stable and reliable with an average trajectory tracking accuracy of 0.11m,which fulfilled the operational requirements.