[1]蒋江红,张锲石.基于 SLAM 技术的双控制器智能机器人[J].计算机技术与发展,2020,30(06):40-43.[doi:10. 3969 / j. issn. 1673-629X. 2020. 06. 008]
　JIANG Jiang-hong,ZHANG Qie-shi.A Dual Controller Intelligent Robot Based on SLAM Technology[J].COMPUTER TECHNOLOGY AND DEVELOPMENT,2020,30(06):40-43.[doi:10. 3969 / j. issn. 1673-629X. 2020. 06. 008]
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基于 SLAM 技术的双控制器智能机器人()
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《计算机技术与发展》[ISSN:1006-6977/CN:61-1281/TN]

卷:
30
期数:
2020年06期
页码:
40-43
栏目:
智能、算法、系统工程
出版日期:
2020-06-10

文章信息/Info

Title:
A Dual Controller Intelligent Robot Based on SLAM Technology
文章编号:
1673-629X(2020)06-0040-04
作者:
蒋江红1 ; 张锲石2; 3
1. 陕西师范大学 计算机科学学院,陕西 西安 710119; 2. 中国科学院深圳先进技术研究院 集成所,广东 深圳 518055; 3. 香港中文大学(深圳),广东 深圳 518055
Author(s):
JIANG Jiang-hong1 ; ZHANG Qie-shi2; 3
1. School of Computer Science,Shaanxi Normal University,Xi’an 710119,China; 2. Shenzhen Institutes of Advanced Technology,Chinese Academy of Science,Shenzhen 518055,China; 3. The Chinese University of Hong Kong,Shenzhen 518055,China
关键词:
ROS; 智能移动机器人; SLAM; 地图构建; 路径规划
Keywords:
ROS; intelligent mobile robot; SLAM; map construction; path planning
分类号:
TP393
DOI:
10. 3969 / j. issn. 1673-629X. 2020. 06. 008
摘要:
为了实现未知环境下的地图构建、定位、导航、路径规划和室内环境检测与控制等功能,基于机器人操作系统(ROS) ,设计了一套智能移动机器人研究平台,使用机器人携带的激光雷达传感器、惯性测量元件(IMU) 、超声波和深度相机感知外界环境信息,通过里程计获取自身位移信息,采用卡尔曼滤波对传感器数据进行滤波处理,利用即时定位与建图(SLAM) 技术进行地图构建和局部路径规划。机器人在导航过程中利用蒙特卡洛定位方法可以实时确定机器人姿态,将机器人的位置信息和采集到的环境特征信息映射到 2D 网格地图中实现地图构建。 在局部路径规划的过程中,通过编码器设备采集加速度和角速度信息,获取实时的速度和姿态,利用构建的地图来进行局部路径规划。 实验测试表明,设计的基于 SLAM 技术的双控制器智能机器人能够构建较高精度的环境地图、实现室内定位和导航。
Abstract:
In order to realize the map construction,positioning,navigation,path planning and indoor environment detection and control in an unknown enviro-? nment,a set of intelligent mobile robot research platform is designed based on the robot operating system (ROS) . We use lidar sensors,inertial measurement elements (IMU) ,ultrasonic and depth camera carried by robots to perceive external environmental information,obtain its own displacement information with odometer, filter the sensor data according to Kalman filter,and use real-time positioning and built figure (SLAM) technology for map building and local path planning.? In the process of navigation,the Monte Carlo positioning method can be used to determine? the robot’s attitude in real time, and map the position information of the robot and the collected environmental feature information to the 2D grid? map to realize the map construction. In the process of local path planning, acceleration and angular velocity information are collected by encoder equipment to obtain real-time velocity and attitude,and local path planning is carried out by using the constructed map. The experiment shows that the intelligent robot with two controllers based on SLAM technology can construct high-precision environment map and realize indoor positioning and navigation.

相似文献/References:

[1]许志明,张秉天,邹嘉俊,等.ROS 系统的激光 SLAM 视觉智能勘察小车[J].计算机技术与发展,2020,30(05):84.[doi:10. 3969 / j. issn. 1673-629X. 2020. 05. 016]
　XU Zhi-ming,ZHANG Bing-tian,ZOU Jia-jun,et al.Intelligent Survey Car Based on Laser SLAM Vision for ROS System[J].COMPUTER TECHNOLOGY AND DEVELOPMENT,2020,30(06):84.[doi:10. 3969 / j. issn. 1673-629X. 2020. 05. 016]
[2]李冰鉴,边 境.针对 ROS 服务通信机制的软件定义改进[J].计算机技术与发展,2022,32(08):89.[doi:10. 3969 / j. issn. 1673-629X. 2022. 08. 015]
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更新日期/Last Update: 2020-06-10