摘要
AGV (Automatic Guided Vehicle)自动导引运输车,在未知环境中的地图构建尤为重要。利用开源的ROS机器人操作系统,研究了基于激光雷达的AGV地图构建系统。在硬件上以ARM Cortex-A53处理器为核心、工业级编码器、激光雷达等为基础的嵌入式系统平台,在软件算法上使用扩展信息滤波器处理激光雷达和里程计数据进行实时地图构建,提高了效率。
Mapping in unknown environments is especially important for AGV(Automatic Guided Vehicle).In this paper,we use the open source ROS robot operation system to research the AGV Mapping system based on lidar.On the hardware,the embedded platform,industrial encoder and lidar are based on the ARM Cortex-A53 processor as the core,and the extended information filter is used to process the laser radar and the mileage data for real-time map creation in the software algorithm,and the efficiency is improved.
作者
吕鹏浩
朱静
LV Penghao;ZHU Jing(School of Physics and Electronic Engineering,Guangzhou University,Guangzhou 510006,China;Lab Center,Guangzhou University,Guangzhou 510006,China)
出处
《东莞理工学院学报》
2018年第5期28-32,45,共6页
Journal of Dongguan University of Technology
