基于ROS平台的智能车运动线控系统设计及实现  

Design and Implementation of Intelligent Vehicle Motion Control System Based on ROS Platform

作　　者：王小华[1] 郑腾 孙伟 苗中华[1] WANG Xiao-hua;ZHENG Teng;SUN Wei;MIAO Zhong-hua(School of Mechatronics Engineering and Automation, Shanghai University, Shanghai 200444, China)

机构地区：[1]上海大学机电工程与自动化学院,上海200444

出　　处：《测控技术》2019年第4期22-25,共4页Measurement & Control Technology

基　　金：上海市科委科技成果转化和产业化项目(16511108600)

摘　　要：针对无人操作智能车辆依靠特定硬件平台等问题,提出了一种基于ROS平台的无人小车的低成本运动线控系统解决方案。该方案基于上位机和下位机的控制结构,上位机代替驾驶员的功能负责决策,下位机负责执行命令。重点给出了上位机、下位机以及上下位机通信的软硬件设计思路和方法,并在ROS平台上使用了Modbus通信,构建了一个结构相对简单、功能可行的低速的无人车运动控制系统。该解决方案的所有软件都是开源或可自行设计的,为更多的研究人员以更低成本研究无人智能车提供了参考。实验结果表明,该运动控制系统解决方案是可行并且有效的,未来可应用于园区、学校等地的小型无人车的控制系统设计。In order to solve the problem that intelligent vehicles rely on specific hardware platforms, a low-cost motion line control system solution for intelligent vehicles based on ROS platform is proposed. The scheme is based on the control structure of the upper computer and the lower computer, the upper computer is responsible for the decision, and the lower computer is responsible for executing the command. The software and hardware design idea and methods of the upper computer and the lower computer are given in detail, and the Modbus protocol communication on the ROS platform is used. Finally, a low-speed unmanned vehicle motion control system with relatively simple structure and functional feasibility was constructed. All software is of the solution open source or self-designed, which can help more researchers research intelligent vehicles at a lower cost. The experimental results show that the motion control system solution is feasible and effective, and it can be applied to the control system design of small unmanned cleaning vehicles in parks, schools and other places in the future.

关 键 词：智能车 ROS 运动控制 MODBUS 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]