基于ROS的差分轮式机器人系统的设计  

Design of Differential Wheeled Robot System Based on ROS

作　　者：石学文 赵晓晨 王庆兰 徐雍倡 李印宏 SHI Xuewen;ZHAO Xiaochen;WANG Qinglan;XU Yongchang;LI Yinhong(College of Engineering,Qufu Normal University,Rizhao 276800,China)

机构地区：[1]曲阜师范大学工学院,山东日照276800

出　　处：《自动化仪表》2020年第9期89-93,97,共6页Process Automation Instrumentation

摘　　要：随着基于机器人操作系统(ROS)的移动机器人应用研究的发展,如何实现快速建图、精准导航和语音交互是其面临的主要问题。为优化以上问题的解决方案,对基于ROS的差分轮式机器人系统进行了设计和研究。系统设计主要包括硬件设计、软件设计和试验测试三部分;首先,提出采用统一机器人描述格式(URDF)仿真模型和运动学模型分析,确定差分轮式机器人的结构形状及运动轨迹。其次,采用高效的FastSLAM算法完成定位与地图构建,全局路径规划采用蚁群算法,局部路径算法采用动态窗口(DWA)算法,使系统的建图更快、导航更精准。最后,通过模型仿真和实物测试完成控制效果的验证.试验结果表明,所设计的机器人系统能快速构建SLAM地图.精准完成导航,并通过语音指令控制机器人运动.避开障碍准确到达指定地点。该设计为移动机器人系统在环境感知与多传感器信息融合方面的研究提供了可靠平台,对基于ROS的家庭陪护机器人系统的研究也具有重要的借鉴意义。With the development of mobile robot application research based on robot operating system(ROS),rapid mapping,accurate navigation and voice interaction are the main problems.In order to solve above problems,a differential wheeled robot system is studied and designed based on ROS.The system design is mainly composed of hardware,software and experimental test.Firstly,a system modeling method based on unified robot description format(URDF)simulation model and kinematics model analysis is proposed to determine the structure shape and motion trajectory of the differential wheeled robot.Secondly,in order to make mapping faster and navigation more accurate,the efficient FastSLAM algorithm is adopted to complete positioning and map construction,for which ant colony algorithm is adopted for global path planning and dynamic window approaches(DWA)algorithm is adopted for local path planning.Finally,the control effect is verified by model simulation and physical test.Experimental results show that this robot system can quickly build SLAM map,accurately complete the path navigation,and can be controlled by voice command to avoid obstacles and accurately reach the designated position.This design not only provides a reliable platform for the research of environmental perception and multi-sensor information fusion of mobile robot system,but also has important guiding significance for the research of family care robot system.

关 键 词：机器人操作系统 URDF模型 SLAM FASTSLAM 导航 蚁群算法 语音控制 

分 类 号：TH-6[机械工程]