摘要
针对传统嵌入式单片机控制的移动机器人交互少、自主运行能力不足的问题,设计并构建了语音启动的基于ROS元操作系统的移动机器人系统。以Linux系统的微处理器作为核心控制平台,STM32单片机作为下位机,结合激光雷达、GY 85等器件,根据混合硬件架构思想设计了一款全向移动的智能语音机器人。该机器人利用激光雷达采集环境信息,并用hector SLAM算法进行建图,利用AMCL算法进行定位和导航,并且采用了麦克纳姆轮底盘进行全方位的移动。对机器人的语音交互、实时定位和建图的功能进行了实地实验。实验结果表明,该移动机器人具有良好的语音交互、建图精度和系统特性,可有效完成建图定位和导航功能。
Aiming at the problems of less interaction and insufficient autonomous operation ability of mobile robots controlled by traditional embedded microcontroller,a voice-activated mobile Robot System based on ROS(Robot Operating System)meta-operating system is designed and constructed.With the Linux microprocessor as the core control platform,STM32 MCU as the lower computer,combined with lidar,GY-85 and other devices,an omnidirectional mobile intelligent voice robot is designed according to the idea of mixed hardware architecture.The robot uses lidar to collect environmental information,uses hector's SLAM algorithm to build the map,and uses AMCL algorithm to locate and navigate.And the McNum wheel chassis is used to move in all directions.Through field experiments,the functions of voice interaction,SLAM and map building of the robot are tested.The results show that this design has good speech interaction mapping accuracy and system characteristics,and can effectively complete mapping positioning and navigation functions.
作者
鲍锡桉
孙巧妍
张德军
姜文君
Bao Xi’an;Sun Qiaoyan;Zhang Dejun;Jiang Wenjun(Engineering College,Yantai Nanshan University,Yantai 265713,China;Equipment Department,Nanshan Aluminum Sheet and Strip Business Department)
出处
《单片机与嵌入式系统应用》
2021年第10期59-62,67,共5页
Microcontrollers & Embedded Systems
基金
山东省自然科学基金(ZR201709210161)
烟台南山学院“青年基金”项目(202014)
2020年山东省大学生创新训练项目(S202012332002)。
