| 金珍珍， 周卫华， 郑军， 郑鹏飞.基于ROS的移动机器人控制系统[J].轻工机械,2021,39(3):73-76 |
| 基于ROS的移动机器人控制系统 |
| Mobile Robot Control System Based on ROS |
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| DOI：10.3969/j.issn.1005 2895.2021.03.013 |
| 中文关键词: 移动机器人 机器人操作系统 STM32控制器 激光雷达 深度相机 |
| 英文关键词:mobile robot ROS (Robot Operating System) STM32 controller light radar depth camera |
| 基金项目:2020年度浙江省教育厅高等学校访问工程师“校企合作项目”（FG2020225）；2020年台州市科技项目（2001gy16）。 |
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| 中文摘要: |
| 针对当前机器人控制系统复用性和可移植性差的现状，课题组提出了基于机器人操作系统ROS的移动机器人控制系统。该系统上位机采用装载Ubuntu以及ROS操作系统的树莓派作为控制器，利用激光雷达和深度相机接收外界环境信息，通过路径规划算法分解并控制电机的运动，来实现自主避障等功能。课题组设计并制作了样机。实验结果表明：该系统不仅可用多种方式实现对机器人的控制，具备自主定位、建图和避障导航等功能，具有控制精度高、成本低、模块化设计和易拓展等优点。 |
| 英文摘要: |
| In view of the poor reusability and portability of current robot control system, a mobile robot control system based on ROS (robot operating system) was proposed. The upper computer of the system used raspberry pie loaded with Ubuntu and ROS operating system as the controller, using laser radar and depth camera to receive environmental information, and decompose and control the movement of the motor through the path planning algorithm, to achieve autonomous obstacle avoidance function. A specific prototype was made and the experimental results show that the system can control the robot in various ways, and it has the functions of autonomous positioning, mapping and obstacle avoidance navigation. It has the advantages of high control precision, low cost, modular design and easy expansion. |
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