基于ROS-Matlab的移动机器人仿真研究  

Research on mobile robot simulation based on ROS⁃Matlab

作　　者：张涛[1] 齐向东 张海龙[1] 普勇博 ZHANG Tao;QI Xiangdong;ZHANG Hailong;PU Yongbo(Key Laboratory of Instrument Science and Dynamic Testing,Ministry of Education,North University of China,Taiyuan 030051,China)

机构地区：[1]中北大学仪器科学与动态测试教育部重点实验室,山西太原030051

出　　处：《现代电子技术》2024年第18期114-120,共7页Modern Electronics Technique

基　　金：山西省科技创新人才团队专项资助项目(202304051001030)。

摘　　要：结合Linux下ROS系统高性能的仿真工具和跨平台兼容性,以及Matlab强大的计算能力、丰富的工具箱和函数库,通过建立ROS-Matlab的仿真控制系统,对移动机器人的关键技术进行研究。文中介绍了ROS-Matlab系统的框架和功能,首先,使用Gazebo构建2D仿真室内环境,通过Solidworks创建移动机器人模型,并将该模型以URDF文件形式导入ROS环境中;其次,利用SLAM_gmapping算法对仿真室内环境进行扫描建图,由Simulink发布目标点坐标和目标点导航话题,控制移动机器人完成导航任务;最后,由Simulink发布轨迹跟踪话题,控制移动机器人进行轨迹跟踪。通过仿真验证,由所建地图、目标点导航和轨迹跟踪曲线说明仿真系统的可行性,为机器人研究提供参考。In combination of the high-performance simulation tool and cross-platform compatibility of ROS(robot system)system under Linux,and the powerful computing power,rich toolbox and function library of Matlab,the key technology of mobile robot is studied by establishing the simulation control system of ROS-Matlab.The framework and function of ROS-Matlab system are introduced.Gazebo is used to build a 2D simulation indoor environment,and Solidworks is used to create a mobile robot model,which is imported into ROS environment in the form of URDF file.SLAM_gmapping algorithm is used to scan and map the simulated indoor environment,and the Simulink is used to publish coordinates and navigation topics of target points to control the mobile robot to complete navigation tasks.Simulink is used to publish the trajectory tracking topic and control the mobile robot for trajectory tracking.After the simulation verification,the feasibility of the simulation system is proved by the built map,target point navigation and trajectory tracking curve,which provides a reference for robot research.

关 键 词：ROS MATLAB 移动机器人 Gazebo SLAM 目标点导航 轨迹跟踪 运动学模型 

分 类 号：TN820.4-34[电子电信—信息与通信工程] TP242[自动化与计算机技术—检测技术与自动化装置]