基于改进RBPF算法的轮式机器人SLAM导航系统设计  

Design of Wheeled Robot SLAM Navigation System Based on Improved RBPF Algorithm

作　　者：王险峰[1] 邱祖泽 丁子琳 赵通 杨浩伟 WANG Xianfeng;QIU Zuze;DING Zilin;ZHAO Tong;YANG Haowei(College of Computer and Information Technology,Northeast Petroleum University,Daqing 163318,China)

机构地区：[1]东北石油大学计算机与信息技术学院,黑龙江大庆163318

出　　处：《计算机测量与控制》2022年第4期172-176,共5页Computer Measurement &Control

摘　　要：传统的机器人导航系统在复杂的地形环境中常常无法引导机器人躲避突然出现的障碍物,无法精准采集数据;为此提出一种改进RBPF算法的轮式机器人SLAM导航系统,对系统硬件和软件进行设计;改进RBPF算法是一种滤波算法,将激光雷达与里程计的信息作为提议分布,提高了导航精度;系统硬件主要由导航功能模块、底盘驱动模块、控制模块组成,利用RPLIDAR A1型激光雷达设计导航功能模块,并设计底盘驱动模块和控制模块;软件设计中,以改进RBPF算法为基础,设计了轮式机器人SLAM导航系统的实现程序,应用算法代入的方式加强了普通轮式机器人导航算法对粒子计算与卡尔曼滤波的敏感程度;实验结果表明,在有障碍物的室内场景中,与传统滤波算法以及基于软件库系统相比,改进RBPF算法规划的路径更短,导航错误点出现率降低了30%左右。Traditional robot navigation system is often impossible to guide robots to avoid sudden obstacles in complex terrain environments,and the navigation data cannot accurately collected.To this end,a wheeled robot SLAM navigation system with improved RBPF algorithm is proposed,and the system hardware and software are designed respectively.The improved RBPF algorithm is a filtering algorithm that uses the information of lidar and odometer as the proposed distribution,which improves the navigation accuracy.The system hardware is mainly composed of navigation function module,chassis drive module,and control module.Type RPLIDAR A1 laser radar is used to design navigation function modules,chassis drive module,and control module.In the software design,based on the improved RBPF algorithm,the implementation program of wheeled robot SLAM navigation system is designed,and the applying algorithm substitution enhances the sensitivity of ordinary wheeled robot navigation algorithm for particle calculation and Kalman filtering.Experimental results show that in indoor scenes with obstacles,compared with traditional filtering algorithm and software library-based system,the path planned by the improved RBPF algorithm is more shorter,and the occurrence rate of navigation error is reduced by about 30%.

关 键 词：改进RBPF算法 轮式机器人 机器人导航 SLAM导航 系统设计 导航设计 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]