基于SLAM物流移动机器人导航技术研究  

Research on Navigation Technology of Logistics Mobile Robot Based on SLAM

作　　者：陶树林 刘祚时 唐雨 Tao Shulin;Liu Zuoshi;Tang Yu(School of Electrical Engineering and Automation,Jiangxi University of Science and Technology,Ganzhou,Jiangxi 341000,China)

机构地区：[1]江西理工大学电气工程与自动化学院,江西赣州341000

出　　处：《机电工程技术》2024年第6期100-104,共5页Mechanical & Electrical Engineering Technology

摘　　要：传统的物流移动机器人多依赖于巡线或磁轨道作业,局限性较大。设计了一种基于激光雷达SLAM物流移动机器人。采用树莓派4B主控板、STM32单片机、激光雷达、相机等硬件设备搭建移动机器人。通过引入Cartographer及Gmapping构建地图,优化Cartographer参数,构建优质地图。对传统A~*算法,提出一种3-n贝塞尔曲线优化方式,并用构建的优质地图进行验证。最后融合相机,增加机器人的安全性及功能性。实验结果表明,该物流机器人能够实现地图构建及自主导航,并从地图质量、路径平滑性、路径长度和实用功能等角度验证了设计的有效性。因此,可将其应用于物流配送服务,以提高配送效率。Aiming at the problem that traditional logistics mobile robots mostly rely on line inspection or magnetic track operation,the robot has relatively large limitations.A logistics mobile robot based on LiDAR SLAM is designed.Raspberry PI 4B main control board,STM32 microcontroller,laser radar,camera and other hardware equipment are used to build the mobile robot.Cartographer and Gmapping are introduced to build maps,and Cartographer parameters are optimized to build high-quality maps.As for the traditional A*algorithm,a 3-n Bezier curve optimization method is proposed and verified by the high-quality map.Finally,camera is integrated to increase the safety and functionality of the robot.The experimental results show that the logistics robot can realize map construction and autonomous navigation,and the effectiveness of the design is verified from the aspects of map quality,path smoothness,path length and practical functions.Therefore,it can be applied to logistics distribution services to improve distribution efficiency.

关 键 词：SLAM 构建地图 路径规划 自主导航 贝塞尔曲线 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]