基于ROS平台的巡逻车自主导航设计  

Design of Autonomous Navigation for Patrol Vehicles Based on ROS Platform

作　　者：谭浩 阳清 李江婷 张嘉麟 TAN Hao;YANG Qing;LI Jiangtin;ZHANG Jialin(College of Mechanical Engineering,Hunan Institute of Science and Technology,Yueyang 414006,China)

机构地区：[1]湖南理工学院机械工程学院,岳阳414006

出　　处：《自动化与仪表》2023年第11期105-108,共4页Automation & Instrumentation

基　　金：湖南省研究生科研创新资助项目(湘教通〔2022〕78号);湖南省自然科学基金项目(2023JJ50044)。

摘　　要：针对工厂、大型商场等场所自动化监测水平过低和人力巡查成本过高的问题,该文研发了一款基于ROS的巡逻车自主导航系统。借助于ROS系统平台开发环境,对移动系统、控制系统等进行研究设计,运用ROS平台的内部导航包,对SLAM建图的数据与导航的数据相互融合,然后下发到数据终端,在数据控制终端使用STM32系列开发板,通过集成连接外设硬件,处理外设传来的信息,最终实现自主导航的效果。实验结果表明,该设计能有效降低人工成本,保证了工作的稳定性和有效性,提高了巡查的自动化程度,相比于传统的人力巡视具有重要意义。Aiming at the low level of automated monitoring in factories,large shopping malls,and other places,and the high cost of human patrol inspection,a patrol vehicle autonomous navigation system based on ROS was developed.Firstly,research and design the mobile system and control system using the development environment of the ROS system platform.With the help of the internal navigation package of the ROS platform,integrate the SLAM mapping data and navigation data,and then distribute them to the data terminal.At the data control terminal,use the STM32 series development board to integrate and connect the peripheral hardware to process the information transmitted from the peripheral devices,ultimately achieving the effect of autonomous navigation.The experimental results show that the design can effectively reduce labor costs,ensure the stability and effectiveness of work,and improve the degree of automation of inspection.Compared to traditional manual inspection,it has important significance.

关 键 词：自主导航 SLAM建图 控制系统设计 人机交互 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]