基于ROS的移动机器人自主建图与路径规划  

Autonomous mapping and path planning of mobile robot based on ROS

作　　者：温淑慧[1] 问泽藤 刘鑫 温淑焕[1] WEN Shu-hui;WEN Ze-teng;LIU Xin;WEN Shu-huan(Key Laboratory of Industrial Computer Control Engineering of Hebei Province,Yanshan University,Qinhuangdao 066004,China)

机构地区：[1]燕山大学河北省工业计算机控制工程重点实验室,河北秦皇岛066004

出　　处：《沈阳工业大学学报》2022年第1期90-94,共5页Journal of Shenyang University of Technology

基　　金：国家自然科学基金项目(51267009).

摘　　要：为了提高机器人的自主导航性能,设计了基于ROS的移动机器人自主建图与路径规划系统.通过2D激光雷达获取周围环境信息,利用姿态传感器(IMU)获取机器人的姿态和加速度信息,利用Gmapping算法实现机器人的自主定位与建图,利用基于头尾双向搜索的A*算法进行全局路径规划,采用DWA算法完成局部避障工作.结果表明,所提算法可使机器人完成构建地图以及自主导航任务,提高导航系统的自主性能以及工作效率.In order to improve the autonomous navigation performance of robot,an autonomous mapping and path planning system of mobile robot based on ROS was designed.The surrounding environment information was acquired via a 2D laser radar,and an inertial measurement unit(IMU)was used to obtain the attitude and acceleration information of robot.The Gmapping algorithm was used to realize the autonomous positioning and mapping of robot.Furthermore,A*algorithm based on both head and tail search was used for global path planning,and the DWA algorithm was used to accomplish local obstacle avoidance.The results show that the as-proposed algorithm enables the robot to finish the tasks of map construction and autonomous navigation,and improves the autonomous performance and work efficiency of navigation system.

关 键 词：移动机器人 路径规划 A*算法 Gmapping算法 概率定位系统 局部避障 DWA算法 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]