摘要
针对室内机器人在未知环境下的自主导航问题,以机器人操作系统ROS为开发平台,基于Gmapping、Amcl、Move_base等开源功能包设计自主导航系统,使搭载此系统的机器人能够学习未知环境下的地图信息,并基于地图实现定位、路径规划、避障等功能。通过三维物理仿真软件Gazebo模拟环境并加载设计的URDF机器人模型,对自主导航系统进行仿真验证。结果表明,该自主导航系统能够使机器人在未知环境下,实现准确建图、定位、实时避障和路径规划等功能。
Aiming at the problem of autonomous navigation of indoor robots in unknown environments,this article uses the robot operating system(ROS)as a development platform and designs autonomous navigation systems based on open source function packages such as Gmapping,Amcl,Move_base,etc,so that the robots equipped with this system can learn map information in unknown environments,and based on the map to achieve positioning,path planning,obstacle avoidance and other functions.The 3D physical simulation software Gazebo simulates the environment and loads the designed unified robot description format(URDF)robot model to simulate and verify the autonomous navigation system.The results show that in unknown environments the autonomous navigation system can enable the robot to achieve accurate mapping,positioning,real-time obstacle avoidance and path planning.
作者
高腾腾
李彩虹
刘国名
郭娜
王迪
GAO Tengteng;LI Caihong;LIU Guoming;GUO Na;WANG Di(School of Computer Science and Technology,Shandong University of Technology,Zibo 255049,China)
出处
《山东理工大学学报（自然科学版）》
CAS
2021年第4期36-42,共7页
Journal of Shandong University of Technology:Natural Science Edition
基金
国家自然科学基金项目(61473179)
山东省自然科学基金项目(ZR2017MF047)
淄博市校城融合发展计划项目(2018ZBXC295)。
