基于ROS的无人小车系统设计  

ROS Based Unmanned Cart Control System Design

作　　者：赖伟俊 刘美 卢并裕 陈景铨 LAI Weijun;LIU Mei;LU Bingyu;CHEN Jingquan(School of Automation,Guangdong University of Petrochemical Technology,Maoming 525000,China)

机构地区：[1]广东石油化工学院自动化学院,广东茂名525000

出　　处：《广东石油化工学院学报》2025年第1期83-87,共5页Journal of Guangdong University of Petrochemical Technology

摘　　要：针对传统无人搬运车受限于固定的工作路径而无法在复杂的环境下高效地完成货物搬运任务的问题,提出了一种基于ROS系统的仓储无人小车系统设计方案,通过同步定位与建图算法在复杂的仓储环境下实现地图构建任务和自主导航规划任务。实验表明,该无人小车系统成功在陌生环境中创建了二维地图,完成了自主导航任务。To address the problem that traditional Automated Guided Vehicle handling unmanned vehicles are limited by fixed working paths and cannot efficiently complete cargo handling tasks in complex environments,the research proposes a design scheme for an unmanned vehicle system based on ROS system to achieve map building tasks and autonomous navigation planning tasks in complex warehousing environments through Simultaneous Localization and Mapping(SLAM)algorithms.Localization and Mapping(SLAM)algorithm achieved the map building task and autonomous navigation planning task in the complex storage environment.In the experimental tests,the unmanned cart successfully created a 2D map in an unfamiliar environment and completed the autonomous navigation task while avoiding obstacles.

关 键 词：ROS系统 无人小车 SLAM算法 地图构建 自主导航 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]