摘要
为更好研究自动驾驶技术和解决在无人车上验证算法时可能存在的安全隐患问题,本文按1∶8的比例设计并搭建了基于ROS(Robot Operating System)的微型线控无人车实验平台,上位机以Jetson TX2为运算核心处理传感器信息,完成建图与导航功能,下位机采用STM32控制无人车的运动。实验中,分别用Gmapping和Cartographer算法实现建图功能,使用move_base功能包和teb_local_planner局部规划器实现car-like导航功能。结果表明,该无人车可以满足自动驾驶技术领域相关试验需求。
In order to study the autonomous driving technology and solve the potential safety risks when verifying the algorithm with the unmanned vehicles,it designs and builds a 1∶8 small scale linear control unmanned vehicle experimental platform based on ROS(Robot Operating System).The upper computer processes the sensor information with Jetson TX2 as the core operation and completes the mapping and navigation function,and the lower computer uses STM32 to control the movement of the unmanned vehicle.In the experiment,the Gmapping and Cartographer algorithms were used with the unmanned vehicle for mapping,and the car-like navigation function was implemented using the move_base function package and the teb_local_planner local planner.The results shows that the unmanned vehicle can meet the test requirements for the exploration of autonomous driving technology.
作者
杨力鹏
任工昌
王乐
刘朋
YANG Lipeng;REN Gongchang;WANG Le;LIU Peng(College of Mechanical and Electrical,Shaanxi University of Science and Technology,Xi’an 710021,China)
出处
《智能物联技术》
2022年第6期23-28,共6页
Technology of Io T& AI
基金
陕西省重点研发计划(2022GY-250)
西安市科技计划(2022JH-RGZN-0098)。
