基于ROS的巡逻机器人系统设计  

Design of patrol robot system based on ROS

作　　者：胡兵 王德文 刘欣 HU Bing;WANG Dewen;LIU Xin(Xijing University,Xi’an 710100,China;The Hi-Tech College of Xi’an University of Technology,Xianyang 713300,China)

机构地区：[1]西京学院,陕西西安710100 [2]西安理工大学高科学院,陕西咸阳713300

出　　处：《无线互联科技》2024年第12期69-72,共4页Wireless Internet Technology

摘　　要：针对厂房、银行和大型超市等需要人工巡逻的场所,文章设计了一款基于ROS的巡逻机器人自主导航系统。文章将ROS系统部署到基于树莓派硬件开发的巡逻机器人上,对巡逻机器人的环境感知模块、导航模块和监控模块等进行研究设计。该系统使用同步定位与建图(Simultaneous Localization and Mapping,SLAM)技术,通过激光雷达和里程计实现定位、建图与导航功能。实验结果表明,该系统定位收敛速度快,构建地图精度高,路径规划稳定性好,能替代人类巡逻。This paper designs an autonomous navigation system of patrol robot based on ROS for factories,banks,supermarkets and other places that need manual patrol.In this paper,ROS system is deployed on a patrol robot developed based on Raspberry PI hardware,and the environmental awareness module,navigation module and monitoring module of the patrol robot are studied and designed.The system uses simultaneous localization and mapping(SLAM)technology to achieve positioning,mapping and navigation functions through laser radar and odometer.The experimental results show that the system has fast convergence speed,high precision of map construction,good stability of path planning,and can replace human patrol.

关 键 词：ROS 巡逻机器人 SLAM Gmapping算法 自适应蒙特卡罗定位算法 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]