基于ROS的机器人自主探索导航与地图构建研究  

Research on Autonomous Navigation and Map Construction of Robot Based on ROS

作　　者：邵连奇 张媛媛[1] 袁田 淡睿哲 马帅辉 顾伟宏[1] SHAO Lianqi;ZHANG Yuanyuan;YUAN Tian

机构地区：[1]东北林业大学,哈尔滨150000

出　　处：《科技创新与应用》2023年第8期37-40,共4页Technology Innovation and Application

基　　金：国家级大学生创新创业计划资助项目(202210225209)。

摘　　要：为提高四轮机器人在未知环境下自主导航与地图构建的能力。主要采用多种传感器的协调配合,并灵活运用多种传感器之间的优势。借助于信号滤波技术,对滤波后的传感器信息进行数据融合。在此数据基础上,基于ROS内部功能包Navigation的gmapping算法,利用A^(*)算法实现全局规划,同时采用TEB局部规划控制器实现局部规划。最终成功实现地图构建,并实时反馈位置信息使机器人能够不断调整位姿。说明该方法能够实时提高自主导航与地图构建的精准性,高效实现环境地图的构建以及辅助导航。In order to improve the ability of autonomous navigation and map construction of four-wheeled robot in unknown environment. It mainly uses the coordination and cooperation of a variety of sensors, and flexibly uses the advantages of a variety of sensors. With the help of signal filtering technology, the filtered sensor information is fused. On the basis of this data, based on the gmapping algorithm of the internal function package Navigation of the ROS system, the A^(*) algorithm is used to realize the global planning, and the TEB local planning controller is used to realize the local planning. Finally, the map construction is realized successfully, and the position information is fed back in real time so that the robot can constantly adjust its posture. It shows that this method can improve the accuracy of autonomous navigation and map construction in real time, and efficiently realize the construction of environmental map and auxiliary navigation.

关 键 词：环境地图构建 自主导航 A^(*)算法 gmapping算法 系统设计 

分 类 号：TP399[自动化与计算机技术—计算机应用技术]