摘要
地图创建和同步定位技术(SLAM)是移动机器人开发的核心技术,是智能移动机器人实现自主和半自主移动的关键,论文基于SLAM对机器人的运动控制系统进行设计。首先采用具有免费、开源优势且注重易用性、安全便捷性的ROS平台实现移动机器人的SLAM技术,利用自适应蒙特卡罗定位算法估计移动机器人位姿,通过贝叶斯算法构建网络地图。其次是路径规划算法对移动机器人运动路径进行规划,使得移动机器人沿着规划路径行走,实现移动机器人的自主移动功能。最后是将设计的移动机器人应用于智能采摘试验中,其算法最长用时为7 s,平均用时为6.7 s,能够很好地满足预期的效果。本论文的研究对移动机器人应用于智能生产实践中具有一定的参考价值。
Simultaneous localization and mapping(SLAM)is the core technology of mobile robot development and the key to realize autonomous and semi autonomous movement of intelligent mobile robot.This paper designs the robot motion control system based on slam.Firstly,the slam technology of the mobile robot is realized by using the ROS platform which has the advantages of free and open source,pays attention to ease of use,safety and convenience,estimates the pose of the mobile robot by using the Adaptive Monte Carlo positioning algorithm,and constructs the network map by Bayesian algorithm.Secondly,the path planning algorithm plans the motion path of the mobile robot,makes the mobile robot walk along the planned path,and realizes the autonomous movement functions of the mobile robot.Finally,the designed mobile robot is applied to the intelligent picking experiment.The longest time of the algorithm is 7 s and the average time is 6.7 s,which can well meet the expected effect.The research of this paper has a certain reference value for the application of mobile robot in intelligent production practice.
作者
杨元义
杨超
Yang Yuanyi;Yang Chao(Yantai Vocational College,Yantai 264670,China)
出处
《粘接》
CAS
2021年第12期107-111,145,共6页
Adhesion
关键词
移动机器人
定位与导航
运动控制
系统设计
Mobile Robot
Positioning and Navigation
Motion Control
The System Design
