基于ROS系统的无人配送智能车设计  

Design of unmanned intelligent delivery vehicle based on ROS system

作　　者：张雨晴 吕程 高金凤[1] ZHANG Yuqing;LV Cheng;GAO Jinfeng(School of Information Science and Technology,Zhejiang Sci-Tech University,Hangzhou 310018,China;Hangzhou Water Group Co.,Ltd,Hangzhou 310009,China)

机构地区：[1]浙江理工大学信息科学与工程学院,杭州310018 [2]杭州市水务集团有限公司,杭州310009

出　　处：《智能计算机与应用》2023年第6期126-129,共4页Intelligent Computer and Applications

基　　金：国家自然科学基金(62073296);浙江省自然科学基金(LY20F030015)。

摘　　要：传统的无人配送智能车功能单一,体积较大,难以适用于狭小复杂的工作环境。为此,本文设计了一款基于ROS(Robot Operating System)操作系统的简易配送智能车。该智能车使用ROS操作系统作为平台,由ROS控制器和STM32运动控制器组成,地图构建采用SLAM(Simultaneous Localization and Mapping)建图算法,规划路径采用全局和局部相结合的路径规划算法。该智能车集成程度高,体积小,适用于多种场合,具有良好的社会效益。The traditional unmanned intelligent delivery vehicle has some limitations of simple function and large bulk,which is difficult to apply in the narrow and complex working environment.We design a simple delivery intelligent vehicle based on ROS(Robot Operating System)system.The smart vehicle uses ROS operating system as the platform and is composed of ROS controller framework and STM32 motion control framework.The map building adopts the SLAM(Simultaneous Localization and Mapping)mapping algorithm,and the path planning adopts a combination of global and local path planning algorithms.In addition,the smart vehicle is highly integrated and small in size,which is suitable for various working environment such as hotels and hospitals.

关 键 词：ROS 配送智能车 路径规划 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]