摘要
该文主要是对物流配送机器人在校园、社区、室内等环境下的物流配送的"路径规划-包裹配送-运动控制-环境建模-位置定位"展开研究。采用了ROS(Robot Operating System)机器人操作系统作为整个物流配送机器人的核心,通过ROS开源操作系统的功能包结合外围传感器来结合PID算法的差速运动模型来实现对机器人的任意角度运动控制以及远程控制,通过外围传感器进行对周边的环境信息进行感知结合SLAM算法进行二维地图的构建。通过在构建好的地图上进行设计一个起始点和一个目标点,物流配送机器人在该地图中进行路径规划,在规划好的路线执行导航到目标点,在导航的途中遇到障碍物,机器人会自动的避开障碍物或者从新规划路线,从而来实现包裹从起始点到目标点的配送工作。
This paper mainly studies the"path planning-package distribution-motion control-environment modeling-location"of logistics distribution robot in campus,community,indoor and other environments.ROS(robot operating system)robot operating system is adopted as the core of the whole logistics distribution robot.The function package of ROS open source operating system,peripheral sensors and differential motion model of PID algorithm are used to realize the arbitrary angle motion control and remote control of the robot,Through peripheral sensors to perceive the surrounding environmental information,combined with SLAM algorithm to build a two-dimensional map.By designing a starting point and a target point on the constructed map,the logistics distribution robot carries out path planning in the map,navigates to the target point on the planned route,and encounters obstacles on the way of navigation,the robot will automatically avoid obstacles or plan a new route,so as to realize the distribution of packages from the starting point to the target point.
作者
李宏辉
韩桂明
崔松涛
贺文翔
张诗森
Li Hong-hui;Han Gui-ming;Cui Song-tao;He Wen-xiang;Zhang Shi-sen(Guilin Institute of information technology,Guangxi Guilin 541214)
出处
《电子质量》
2022年第5期73-75,共3页
Electronics Quality
基金
2019年度广西高校中青年教师科研基础能力提升项目,电子线路VR实现算法研究(2019ky1028)。
