从提升室内传件生产效率这一目的出发,设计了室内传件机器人。TurtleBot机器人被选作为传件机器人,传感器包括陀螺仪、深度摄像头Xtion Pro Live,配合使用获得机器人位姿与环境信息。基于机器人操作系统ROS对机器人进行开发。重点对室...从提升室内传件生产效率这一目的出发,设计了室内传件机器人。TurtleBot机器人被选作为传件机器人,传感器包括陀螺仪、深度摄像头Xtion Pro Live,配合使用获得机器人位姿与环境信息。基于机器人操作系统ROS对机器人进行开发。重点对室内传件涉及的关键技术进行了实现:基于Gmapping算法的SLAM,基于蒙特卡罗算法的地图定位,全局路径规划Dijkstra算法,局部路径规划运用的DWA算法等。最后,通过对室内传件机器人进行了软硬件的具体实现,并通过多次实验证明了设计的可行性。展开更多
Mobile robot navigation in unknown environment is an advanced research hotspot.Simultaneous localization and mapping(SLAM)is the key requirement for mobile robot to accomplish navigation.Recently,many researchers stud...Mobile robot navigation in unknown environment is an advanced research hotspot.Simultaneous localization and mapping(SLAM)is the key requirement for mobile robot to accomplish navigation.Recently,many researchers study SLAM by using laser scanners,sonar,camera,etc.This paper proposes a method that consists of a Kinect sensor along with a normal laptop to control a small mobile robot for collecting information and building a global map of an unknown environment on a remote workstation.The information(depth data)is communicated wirelessly.Gmapping(a highly efficient Rao-Blackwellized particle filer to learn grid maps from laser range data)parameters have been optimized to improve the accuracy of the map generation and the laser scan.Experiment is performed on Turtlebot to verify the effectiveness of the proposed method.展开更多
文摘从提升室内传件生产效率这一目的出发,设计了室内传件机器人。TurtleBot机器人被选作为传件机器人,传感器包括陀螺仪、深度摄像头Xtion Pro Live,配合使用获得机器人位姿与环境信息。基于机器人操作系统ROS对机器人进行开发。重点对室内传件涉及的关键技术进行了实现:基于Gmapping算法的SLAM,基于蒙特卡罗算法的地图定位,全局路径规划Dijkstra算法,局部路径规划运用的DWA算法等。最后,通过对室内传件机器人进行了软硬件的具体实现,并通过多次实验证明了设计的可行性。
基金National Natural Science Foundation of China(Nos.51475328,61372143,61671321)
文摘Mobile robot navigation in unknown environment is an advanced research hotspot.Simultaneous localization and mapping(SLAM)is the key requirement for mobile robot to accomplish navigation.Recently,many researchers study SLAM by using laser scanners,sonar,camera,etc.This paper proposes a method that consists of a Kinect sensor along with a normal laptop to control a small mobile robot for collecting information and building a global map of an unknown environment on a remote workstation.The information(depth data)is communicated wirelessly.Gmapping(a highly efficient Rao-Blackwellized particle filer to learn grid maps from laser range data)parameters have been optimized to improve the accuracy of the map generation and the laser scan.Experiment is performed on Turtlebot to verify the effectiveness of the proposed method.
