基于机器人操作系统的室内运输自动导引车系统及其设计  

Indoor Transportation Automated Guided Vehicle System Based on Robot Operating System and Its Design

作　　者：汪云云 王连明 关建文 王富兴 WANG Yun-yun;WANG Lian-ming;GUAN Jian-wen;WANG Fu-xing(School of Physics,Northeast Normal University,Changchun 130024,China;School of Ocean Science and Technology,Hainan Tropical Ocean University,Sanya 572022,China)

机构地区：[1]东北师范大学物理学院,长春130024 [2]海南热带海洋学院海洋科学技术学院,三亚572022

出　　处：《科学技术与工程》2020年第19期7742-7749,共8页Science Technology and Engineering

基　　金：吉林省科技发展计划(20170204035GX,20170204050GX)。

摘　　要：针对当前室内运输自动导引车(AGV)导引技术存在灵活性差、开发成本高、路径维护烦琐等问题,设计并实现了一款基于开源机器人操作系统(robot operating system,ROS)的室内运输AGV系统。该系统包括硬件层和软件层两部分。在硬件层,综合考虑现实需求、性能、成本等因素后进行硬件选型,同时搭建了AGV底盘和单舵轮行走机构,为软件层提供了一个稳定、灵活的运行平台。软件层设计包括ROS规划端和网页人机交互端两部分。ROS规划端进行AGV地图构建、自主定位、路径规划、路径跟踪、自主导航五大功能模块设计;网页人机交互端实现远程人机交互功能。测试结果表明,基于ROS的室内运输AGV系统能够有效地完成室内自动化运输任务,且路径维护灵活简便,整个系统具有很强的可行性和实用价值。An indoor transportation automated guided vehicle(AGV) system based on the open-source robot operating system(ROS) was designed and implemented to solve the problems in the current indoor transportation AGV guidance technology, such as poor flexibility, high development cost, and tedious path maintenance. The AGV system consisted of the hardware layers and software layers. In hardware layers, the hardware selection was performed after considering the actual requirements, performance, cost, and other factors. Meanwhile, the AGV chassis and single-steering wheel walking mechanism were built to provide a stable and flexible operating platform for the software layer. The software layer included two parts, namely the ROS planning end and human-computer interaction end of a web page. The ROS planning end performed the design of five functional modules(i.e., AGV map construction, autonomous positioning, path planning, path tracking, and autonomous navigation), and the human-computer interaction end of the web page realized the remote human-computer interaction function. The test results show that the ROS-based indoor transportation AGV system can effectively complete the indoor automatic transportation tasks with flexible and simple path maintenance. In conclusion, the whole system has strong feasibility and practical value.

关 键 词：机器人操作系统 自动导引车 系统设计 室内运输 自主导航 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]