室内移动机器人平台设计与实现  

Design and Realization of Indoor Mobile Robot

作　　者：杨记周 胡广宇 许玉云 骆永乐 双丰 YANG Jizhou;HU Guangyu;XU Yuyun;LUO Yongle;SHUANG Feng(Institute of Intelligent Machines,Chinese Academy of Sciences,Hefei 230031,China;Hefei Institute of Physical Science,University of Science and Technology of China,Hefei 230026,China;College of Electrical Engineering,Guangxi University,Nanning 530004,China)

机构地区：[1]中国科学院合肥智能机械研究所,安徽合肥230031 [2]中国科学技术大学合肥物质科学研究院,安徽合肥230026 [3]广西大学电气工程学院,广西南宁530004

出　　处：《自动化仪表》2019年第5期75-78,共4页Process Automation Instrumentation

摘　　要：针对目前智能移动机器人只能在单一楼层间工作的现状,对智能移动机器人在不同楼层间切换工作环境的问题进行了研究。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IIMR-I,使用自身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,使用里程计获取自身位移信息,并通过卡尔曼滤波对传感器数据进行滤波处理。使用即时定位与建图(SLAM)技术,构建分辨率为5 cm的高精度栅格地图,并在此基础上进行全局和局部路径规划,实现了机器人的导航和壁障功能。使用蒙特卡洛定位的方法,在机器人导航过程中可以实时确定机器人位姿,其相对定位精度可达10 cm。通过使用深度相机能够识别出电梯按钮的三维坐标,并使用机械臂按下目标楼层按钮,实现了机器人按电梯的功能。Aiming at the current status of intelligent mobile robots can only work on single floor,the research on the problem of intelligent mobile robot switching working environment between different floors is carried out.Based on the robot operating system(ROS),a set of intelligent mobile robot research platform IIMR-I has been designed.By using the Lidar sensor,inertial measurement unit(IMU),ultrasonic and depth camera,the external environment information is captured;and using the odometer,own displacement information is got;the sensor data are filtered and processed by Kalman filter.The simultaneous localization and mapping(SLAM) technology can be used to construct high-precision raster map with the resolution of 5 cm,and global and local path planning are conducted on this basis to realize the function of robot navigation and obstacle avoidance.By adopting Monte Carlo positioning method,the robot pose in real time during the robot navigation processis determined in real time,and the relative positioning accuracy can reach 10 cm.Use the depth camera to recognize The 3-D coordinates of the elevator button can be recognized by the depth camera;and the robotic arm can press the target floor button.The function of pressing the elevator button by robot expands the application scenario of the robot.

关 键 词：二维激光雷达 自主导航及避障 多传感器信息融合 路径规划 机器人定位 图像识别 机械臂控制 

分 类 号：TH6[机械工程—机械制造及自动化]