基于ROS的目标搜寻系统设计

Design of Target Search System Based on ROS

针对当前的勘察机器人实现任务单一,需要高性能的机载计算机,且设计成本高。设计在ROS操作系统的基础上,提出了一套自主式移动机器人的设计方案。实现机器人的自主导航、规避障碍和目标搜寻的功能。应用特征点法进行目标识别,以节省机载计算机的算力。通过WIFI与PC电脑端通信,系统先在GAZEBO平台上完成仿真,接着完成实物的搭建,进行实验。实验结果表明:自主式移动机器人能够良好地完成导航、避障和目标搜寻的任务,同时系统拥有的鲁棒性强。

In view of the single task of current survey robots,high-performance airborne computers are needed,and the design cost is high,this paper proposes a set of autonomous mobile robot design schemes based on the ROS operating system.It realizes the robot's autonomous navigation,obstacle avoidance and target search functions.The feature point method is used for target recognition to save the computing power of the onboard computer.Communicating with PC through WIFI,the system first completes the simulation on the GAZEBO platform,then completes the construction of the physical object and conducts the experiment.The experimental results show that the autonomous mobile robot can well complete the tasks of navigation,obstacle avoidance and target search,and the system has strong robustness.