摘要
设计了一种基于ROS机器人操作系统的电动汽车充电操作移动机器人系统。首先,在运动控制层建立了充电机械臂和移动底盘的机器人运动学模型,在运动规划层采用视觉定位技术对充电机械臂进行了轨迹规划;然后,利用ROS平台改良A*算法设计了导航节点并采用加权平均法设计了多传感位姿信息融合节点,采用TCP Socket实现了交互层的功能;最后,进行了移动机器人充电流程实验。实验结果验证了所设计系统的实用性。
A kind of electric vehicle charging operation mobile robot system based on ROS is designed.Firstly,the kinematics model of the charging operating robotic arm and mobile basement are established in the motion control layer.In the motion planning layer,visual technology is used to plan the trajectory of the charging operating robotic arm and the navigation node is designed based on ROS platform with an improved A*algorithm.The pose information fusion node with multi-sensors is designed with the weighted average method.The interaction layer is established with TCP Socket.Finally,the realistic experiment is also tested.The results show that the designed robot system can meet the task requirements and has practicability.
作者
徐建明
蔡奇正
马益普
XU Jianming;CAI Qizheng;MA Yipu(College of Information Engineering,Zhejiang University of Technology,Hangzhou 310023,China)
出处
《浙江工业大学学报》
CAS
北大核心
2021年第6期591-601,共11页
Journal of Zhejiang University of Technology
基金
国家自然科学基金-浙江省自然科学基金联合基金两化融合项目(U1709213)
国家自然科学基金面上项目(61374103)。
关键词
ROS
充电操作移动机器人
自主导航
车臂协同
ROS
robot system for battery charging
autonomous navigation
coordination between vehicle and robotic
