复合移动机器人自主导航系统实验平台设计

Experimental Platform Design of Autonomous Navigation System for Composite Mobile Robot

为了有效提升移动机器人的自主导航性能,降低功能模块的开发难度,以两轮差速复合移动机器人为研究对象,基于机器人操作系统(ROS)框架,按照模块化与分层化原则设计复合移动机器人自主导航系统实验平台。通过基于图优化的Cartographer算法,实现复合移动机器人的建图定位功能;设计多种路径规划算法,实现机器人的自主导航与避障。实验结果表明,该复合移动机器人自主导航系统能够在未知环境下构建二维地图,并根据代价地图进行实时路径规划,满足不同自主导航算法的开发与验证需求。

To effectively improve the autonomous navigation performance of mobile robots and reduce the difficulty of developing functional modules,this paper takes the two-wheel differential composite mobile robot as the research object,and designs an autonomous navigation experimental platform of the composite mobile robot based on the robot operating system(ROS)framework according to the principle of modularization and layering.Through the Cartographer algorithm based on graph optimization,the mapping and positioning function of the composite mobile robot is realized.A variety of path planning algorithms are designed to realize the autonomous navigation and obstacle avoidance of robots.The results show that the composite mobile robot system can construct a two-dimensional map in an unknown environment and realize real-time path planning according to the cost map,which meets the development and verification needs of different autonomous navigation algorithms.