基于ROS的垃圾督导机器人导航系统设计与实现  

Design and Implementation of Navigation System for Garbage Supervision Robot based on ROS

作　　者：何海涛 陈劲杰[1] HE Haitao;CHEN Jinjie(School of Mechanical Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China)

机构地区：[1]上海理工大学机械工程学院,上海200093

出　　处：《软件工程》2023年第5期58-62,54,共6页Software Engineering

摘　　要：针对垃圾督导机器人在垃圾投放点如何导航这一问题,文章基于ROS(Robot Operating System,机器人操作系统)设计实现了垃圾督导机器人的导航系统,系统使用Jetson Nano和STM32分别作为主、从控制器,从控制器通过PI(比例积分控制)算法控制机器人的运动,使用串口与主控制器进行命令交互和数据传输,主控制器运用ROS功能包实现了定位建图和导航功能,使用有限状态机实现了巡逻任务,最后通过仿真对功能进行了可行性验证和实地测试。结果表明:垃圾督导机器人能够在垃圾投放点完成预先设定的导航任务,满足实际功能需求。In response to the navigation issue of the garbage supervision robot at garbage disposal points,this paper proposes to design and implement a navigation system for garbage supervision robot based on the Robot Operating System(ROS).The system uses Jetson Nano and STM32 as the master and the slave controllers,respectively.The slave controller controls the robot's movement by using a PI(Proportional Integral Control)algorithm,and uses a serial port for command interaction and data transmission with the master controller.The master controller utilizes ROS function package to implement localization,mapping,and navigation functions,and uses a finite state machine to perform patrol tasks.Finally,feasibility verification and on-site testing of the function are conducted through simulation.The results indicate that the garbage supervision robot can complete the pre-set navigation tasks at the garbage disposal point and meet the actual functional requirements.

关 键 词：机器人 导航 ROS 

分 类 号：TP311[自动化与计算机技术—计算机软件与理论]