基于激光雷达自主定位导航的多功能机器人  

Multi-function robot based on laser radar autonomous positioning and navigation

作　　者：李少安 刘欣 郭长鑫 王博 丁浩然 李晓健 Li Shao'an;Liu Xin;Guo Changxin;Wang Bo;Ding Haoran;Li Xiaojian(Guilin Institute of Information Technology,Guilin 541000,China)

机构地区：[1]桂林信息科技学院,广西桂林541000

出　　处：《无线互联科技》2023年第17期54-57,共4页Wireless Internet Technology

基　　金：教育部国家级大学生创新训练项目,项目名称:基于激光雷达自主定位导航的多功能防疫机器人,项目编号:202213644007;广西壮族自治区教育厅高校中青年教师科研基础能力提升项目,项目名称:SLAM的室内定位算法在自由机器人中的应用研究,项目编号:2020KY57016。

摘　　要：随着科技的不断进步,机器人技术在各个领域得到广泛应用。传统的人工操作存在着人力成本高、风险大等问题,因此需要一种自主智能的机器人来替代或辅助人工操作。文章介绍了一种基于激光雷达自主定位导航的多功能机器人,旨在实现物资运输和巡逻任务。通过研究运动学、动力学、搬运器械机构的运行原理以及自主导航和避障等关键技术,机器人具备自主性、可编程性和高精度定位导航能力,能够自主移动和执行任务。针对姿态解算,文章研发了一款IMU陀螺仪传感器。实验结果验证了机器人的性能和稳定性,并证明其适应不同工作需求。With the continuous progress of science and technology,robot technology has been widely used in various fields.Traditional manual operation has some problems,such as high cost and high risk,so it needs an autonomous intelligent robot to replace or assist manual operation.In this paper,a multi-functional robot based on laser radar autonomous positioning and navigation is introduced,which aims at materiel transportation and patrol.Through the study of kinematics,dynamics,the operating principle of the handling equipment mechanism and the key technologies such as autonomous navigation and obstacle avoidance,the robot has the ability of autonomy,programmability and high-precision positioning and navigation.It can provide the robot with high-precision positioning and navigation capabilities,so that the robot can move and perform tasks autonomously.An IMU gyroscope sensor was developed for attitude calculation.The experimental results verify the performance and stability of the robot,and prove that it can adapt to different work requirements.

关 键 词：机器人 激光雷达 自主定位导航 深度学习 体温检测 

分 类 号：TN912.3[电子电信—通信与信息系统]