摘要
从提升室内传件生产效率这一目的出发,设计了室内传件机器人。TurtleBot机器人被选作为传件机器人,传感器包括陀螺仪、深度摄像头Xtion Pro Live,配合使用获得机器人位姿与环境信息。基于机器人操作系统ROS对机器人进行开发。重点对室内传件涉及的关键技术进行了实现:基于Gmapping算法的SLAM,基于蒙特卡罗算法的地图定位,全局路径规划Dijkstra算法,局部路径规划运用的DWA算法等。最后,通过对室内传件机器人进行了软硬件的具体实现,并通过多次实验证明了设计的可行性。
This paper proposes an indoor transmission robot to improve indoor transmission efficiency.In this paper,the TurtleBot robot is used as the transmission robot.This robot is equipped with gyroscope,depth camera Xtion Pro Live to obtain robot pose and environment information.The robot is developed with the robot operating system ROS.This paper also studies the key technologies of indoor transmission:the Gmapping-based SLAM,the map location based on Monte Carlo algorithm,the Dijkstra-based global path planning,and the DWA algorithm that the local path planning used.Finally,it designes and develops the hardware and software of the indoor transmission robot.
出处
《工业控制计算机》
2018年第4期7-9,共3页
Industrial Control Computer
