自主全向移动机器人实验平台的研制  

Development of the experimental platform for autonomous omnidirectional mobile robot

作　　者：叶宾 朱美强 李会军 YE Bin;ZHU Meiqiang;LI Huijun(School of Information and Control Engineering,China University of Mining and Technology,Xuzhou 221116,China)

机构地区：[1]中国矿业大学信息与控制工程学院,江苏徐州221116

出　　处：《实验室科学》2022年第5期88-91,共4页Laboratory Science

基　　金：教育部产学合作协同育人项目(项目编号:201901220002,201902270011);中国矿业大学教学研究重点项目(项目编号:2020ZD05)。

摘　　要：为了提升移动机器人相关课程的教学质量,针对自主移动机器人实验教学仪器与实验平台较为匮乏且价格昂贵的问题,开发了自主全向移动机器人实验教学平台。该自主移动机器人实验平台由STM32主控系统、Intel NUC上位机、IMU惯性测量单元、单线激光雷达、麦克纳姆轮等硬件系统以及基于机器人操作系统ROS的软件系统构成。基于该实验平台,可以完成机器人驱动控制实验、多传感器融合实验以及移动机器人的定位与导航实验等。该装置为移动机器人方向的相关课程提供了良好的实验平台,同时也可以开展毕业设计以及实训等教学工作,培养学生对移动机器人的兴趣,提高其科研实践和创新能力。The experimental devices or platforms for teaching autonomous mobile robot related courses are usually scarce and expensive.To overcome the problems,an experimental platform for autonomous mobile robot was developed to improve the teaching quality of such courses.It is composed of STM32-based control system,Intel NUC host computer,IMU inertial measurement unit,single line Lidar,Mecanum wheels,as well as the software system based on the robot operating system(ROS).A number of experiments,such as the robot driving control experiment,multi-sensor fusion experiment and mobile robot positioning and navigation experiment can be conducted with this experimental platform.It provides a good experimental platform for teaching mobile robot related courses,as well as carrying out graduation projects or practical trainings,to cultivate students interest in mobile robots and finally to improve their scientific research and innovation ability.

关 键 词：自主移动机器人 实验教学 机器人操作系统 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]