智能四足机器人核电厂地图构建与导航系统设计  

Intelligent Quadruped Robot Nuclear Power Plant Map Construction and Navigation System Design

作　　者：谭海[1,2] 陈煜 杨国为 张军 邹继军[1] 刘曙[1] 张雄杰 TAN Hai;CHEN Yu;YANG Guo-wei;ZHANG Jun;ZOU Ji-jun;LIU Shu;ZHANG Xiong-jie(Engineering Research Center of Ministry of Education for Nuclear Technology Application,East China University of Technology,Nanchang Jiangxi,330013,China;Nanjing Audit University,Nanjing Jiangsu,210011,China)

机构地区：[1]东华理工大学核技术应用教育部工程研究中心,江西南昌330013 [2]南京审计大学,江苏南京210011

出　　处：《核电子学与探测技术》2022年第2期291-298,共8页Nuclear Electronics & Detection Technology

基　　金：国家自然科学基金(61462004,62162002);教育部核技术应用工程研究中心开放基金(HJSJYB2016-4);东华理工大学国家级大学生创新创业训练计划(201810405013、201810405022、201910405001)资助。

摘　　要：为了满足保护核电厂附近人员及设备的需求,设计了基于ROS的智能四足机器人核电厂地图构建系统.该系统采用Raspberry作为ROS系统运行主控制器,通过STM32芯片控制多路舵机移动四足机器人.同时,接入Delta-3 A激光雷达以及Astra深度摄像头进行建图与导航.验证测试结果表明,该系统可以在复杂环境下进行实时建图与导航.In order to meet the needs of protecting personnel and equipment near the nuclear power plant,a ROS-based intelligent quadruped robot nuclear power plant map construction system was designed.The system uses Raspberry as the main controller to run the ROS system,and the PC as the remote monitoring.It uses the STM32 chip to control multiple steering gears to make the quadruped robot move.At the same time,it connects to the Delta-3 A lidar and Astra depth camera for mapping and navigation.The verification test results show that the system can perform real-time mapping and navigation in a complex environment.

关 键 词：ROS 四足机器人 SLAM 导航 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]