室内移动机器人自主导航系统设计  

Design of Autonomous Navigation System for Indoor Mobile Robot

作　　者：林义忠[1] 马凯 LIN Yi-zhong;MA Kai(College of Mechanical Engineering,Guangxi University,Nanning 530004,China)

机构地区：[1]广西大学机械工程学院,南宁530004

出　　处：《自动化与仪表》2021年第6期38-42,共5页Automation & Instrumentation

摘　　要：该文设计了一种基于机器人操作系统(ROS)的移动机器人自主导航系统,利用深度相机获取环境的深度信息并将其转换为伪激光数据,基于该伪激光数据以及里程计信息通过Gmapping算法构建环境二维栅格地图,并结合A*算法和动态窗口法完成移动机器人的路径规划。实验结果表明,在实验室环境中,机器人可以绕过障碍物,自主的运动到目标点,初步验证了该自主导航系统的可行性。This paper designs an autonomous navigation system for mobile robots based on the robot operating system(ROS),which uses a depth camera to obtain the depth information of the environment and converts it into pseudo laser data.Based on the pseudo laser data and odometer information,it is constructed by the gmapping algorithm the two-dimensional grid map of the environment is combined with the A*algorithm and the dynamic window method to complete the path planning of the mobile robot.The experimental results show that in the laboratory environment,the robot can bypass obstacles and move to the target point autonomously,which preliminarily verifies the feasibility of the autonomous navigation system.

关 键 词：移动机器人 深度相机 栅格地图 自主导航 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]