基于ROS的室内导盲机器人设计  

Design of Indoor Blind Guide Robot Based on ROS

作　　者：鞠全勇[1] 宋凯 姚一 吕章锟 JU Quan-yong;SONG Kai;YAO Yi;LYU Zhang-kun(Jinling Institute of Technology,Nanjing 211169,China;Yancheng Institute of Technology,Yancheng 224001,China)

机构地区：[1]金陵科技学院机电工程学院,江苏南京211169 [2]盐城工学院机械优集学院,江苏盐城224001

出　　处：《金陵科技学院学报》2022年第4期45-50,共6页Journal of Jinling Institute of Technology

基　　金：国家自然科学基金面上资助项目(52171261);江苏高校“青蓝工程”优秀青年骨干教师培养对象资助项目。

摘　　要：分析当前国内盲人出行的需求,设计一种基于机器人操作系统(ROS)的室内导盲机器人。首先利用Cartographer-SLAM算法精确地提取金陵科技学院江宁校区科技楼3号楼6层的图像特征,通过这些特征不断地建立和完善二维栅格地图,结果表明:Cartographer-SLAM算法能够进行位姿优化,减少图像特征的重复率和误差累积,从而加快建图的速度。室内导盲机器人在接受导盲任务后,开始规划导盲路线,实行自主导航,从而安全正确地牵引盲人到达指定位置。设计的室内导盲机器人能够很好地发挥导盲作用,具有一定的实用价值。Based on the analysis of the current domestic blind travel needs,an indoor blind guide robot based on robot operating system(ROS)is designed.Firstly,the Cartographer-SLAM algorithm is used to accurately extract the image features of the sixth floor of No.3,Science and Technology Building,Jiangning Campus,Jinling Institute of Technology.Through these features,the 2D grid map is constantly established and improved.The results show that Cartographer-SLAM algorithm can optimize the position and orientation,reduce the repetition rate and error accumulation of image features,and thus speeding up the mapping.After receiving the task,the indoor blind guide robot starts to plan the guide route and implement autonomous navigation,so as to safely and correctly guide the blind to the designated position.The designed indoor blind guide robot can play a good role in guiding the blind and has certain practical value.

关 键 词：室内导盲机器人 ROS Cartographer-SLAM算法 二维栅格地图 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]