摘要
本文采用时间弹性带(Timed Elastic Band, TEB)算法作为局部路径规划算法,对ROS移动机器人利用激光雷达避障的弊端,提出并实现基于深度相机探测障碍物的室内移动机器人自主导航系统。实验表明:该系统不仅具备对不同高度、不同尺寸障碍物的探测能力,而且能安全有效地避开障碍物,移动到指定目标点。
In this paper, Timed Elastic Band(TEB) algorithm is used as the local path planning algorithm to avoid the drawbacks of ROS mobile robots using liDAR.An indoor mobile robot autonomous navigation system based on depth camera to detect obstacles is proposed and implemented.Experimental results show that the system not only has the ability to detect obstacles of different heights and sizes, but also can safely and effectively avoid obstacles and move to the specified target point.
作者
郑为奇
汪地
ZHENG Weiqi;WANG Di
出处
《计量与测试技术》
2022年第10期44-47,共4页
Metrology & Measurement Technique
