清雪机器人自主定位与导航系统设计与开发  

Design and Development of Autonomous Positioning and Navigation System for Snow Clearing Robot

作　　者：张声成 蒋永翔[1] 孙宏昌[1] 张廷 张树刚 张勇 ZHANG Shengcheng;JIANG Yongxiang;SUN Hongchang;ZHANG Ting;ZHANG Shugang;ZHANG Yong(Institute of Robotics and Intelligent Equipment,Tianjin University of Technology and Education,Tianjin 300222,China;Hulunbuir Vocational Technical College,Hulunbuir Inner Mongolia 021000,China)

机构地区：[1]天津职业技术师范大学机器人及智能装备研究院,天津300222 [2]呼伦贝尔职业技术学院,内蒙古呼伦贝尔021000

出　　处：《机床与液压》2021年第21期73-78,共6页Machine Tool & Hydraulics

基　　金：天津市科技军民融合重大专项(18ZXJMTG00160);天津市科技支撑重点项目(18YFZCSF00600);天津市科学技术普及研发项目(19KPHDRC00140);呼伦贝尔科技支撑项目(2018127005);宝坻区科技计划(BDCXY2017018);天津职业技术师范大学校级课题(KJ2003;KJ2004)。

摘　　要：针对清雪机器人在未知环境中缺乏环境感知能力和自主规划路径等问题,研究基于机器人操作系统(ROS)结合激光雷达的同时定位与建图技术(SLAM)、路径规划技术,确定清雪机器人的研究思路。采用基于改进Rao-Black⁃wellized粒子滤波SLAM用于机器人在未知环境中实现同时定位和建图,通过激光雷达扫描匹配建立栅格地图,采用A^(∗)和DWA算法对建立的栅格地图进行全局路径规划和局部动态避障,并通过自主开发的清雪机器人作为实验平台验证可行性。结果表明:在实际环境中,基于激光雷达的同步定位与建图有效解决了清雪机器人位姿估计和地图构建问题,清雪机器人能够按照指定清雪路线移动,并避开实时出现的障碍物,验证了清雪机器人设计的可能性。In terms of lacking environmental awareness and autonomous path planning of snow cleaning robot in unknown environ⁃ment,the designing idea of snow cleaning was confirmed through analyzing simultaneous localization and mapping(SLAM)based on robot operating system(ROS)combined with laser radar,and path planning technology.SLAM based on improved Rao-Blackwellized particle filter was applied to realize simultaneous localization and mapping of robots in unknown environments.Raster map was con⁃structed through laser radar scanning and matching,A^(∗)algorithm and DWA algorithm were used for global path planning and local dy⁃namic obstacle avoidance in the established raster map,and the feasibility was verified with the independently developed snow clearing robot as an experimental platform.The experimental results show that SLAM based on laser radar effectively solve the pose estimation and map construction of snow cleaning robot problemin the actual environment.The snow cleaning robot can move according to the des⁃ignated route and avoid obstacles real-time,which verifies the possibility of the designed snow cleaning robot.

关 键 词：清雪机器人 SLAM 路径规划 机器人操作系统 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]