基于Nvidia Jetson的自主环境探测机器人的设计与实现  

Design and implementation of autonomous environment detection robot based on Nvidia Jetson

作　　者：闫存莹 王福康 田存伟[1] Yan Cunying;Wang Fukang;Tian Cunwei(School of Physical Science and Information Engineering,Liaocheng University,Liaocheng 252059)

机构地区：[1]聊城大学物理科学与信息工程学院,聊城252059

出　　处：《现代计算机》2023年第1期81-87,共7页Modern Computer

摘　　要：移动探测机器人通常需要进入危险复杂的未知环境,代替人进行侦察、取样、救援救灾和应急处置等任务,可以大大降低甚至避免人员伤亡。基于任务需求,设计并实现了一款可用于复杂环境的移动探测机器人。该机器人采用履带作为移动机器人的移动结构以适应复杂的地形,硬件系统包括Nvidia Jetson NANO主控、STM32底盘控制主控、激光雷达传感器等。软件系统基于ROS操作系统和Ubuntu18操作系统开发,可以实现复杂环境下机器人自主扫描环境信息并建立精确地图。Mobile detection robots usually need to enter dangerous and complex unknown environment, instead of human reconnaissance, sampling, rescue and disaster relief and emergency disposal tasks, can greatly reduce or even avoid casualties. Based on the task requirements, a mobile detection robot which can be used in complex environment is designed and implemented. The robot uses track as the mobile structure of the mobile robot to adapt to complex terrain. The hardware system includes Nvidia Jetson NANO main control, STM32 chassis control main control, liDAR sensor and so on. The software system is based on ROS operating system and Ubuntu18 operating system. The robot can scan the environment information and build accurate map in complex environment.

关 键 词：Nvidia Jetson SLAM 机器人 自主 环境探测 

分 类 号：X924.2[环境科学与工程—安全科学] TP242[自动化与计算机技术—检测技术与自动化装置]