摘要
关于巡检机器人的室内多点导航问题,提出一种通过机器人操作系统(ROS)综合同时定位与建图(SLAM)、路径规划(path planning)等技术,进行了室内巡检机器人的多目标点导航仿真研究试验。首先利用URDF文件建立巡检机器人模型,并通过ROS中的仿真平台建立室内模拟环境,然后使用gmapping功能包构建二维栅格地图。最后选用了Dijkstra机器人导航算法,开展室内巡检机器人针对多个目标区域的仿真研究。结果表明,在模拟环境下,机器人可以进行面向多目标区域的导航试验,且路径规划较合理。
Regarding the indoor multi-point navigation of inspection robots,a multi-target point navigation simulation research experiment of indoor inspection robots is proposed by integrating simultaneous localization and map building(SLAM)and path planning technologies through the robot operating system(ROS).Firstly,the URDF file was used to build the inspection robot model,and the simulation platform in ROS was used to build the indoor simulation environment,and then the gmapping package was used to build the 2D raster map.Finally,the Dijkstra robot navigation algorithm was selected to carry out the simulation study of the indoor inspection robot for multiple target areas.The results show that in the simulation environment,the robot can conduct navigation experiments for multiple target areas,and the path planning is reasonable.
作者
张军
余志强
Zhang Jun;Yu Zhiqiang(School of Artificial Intelligence,Anhui University of Science and Technology,Huainan,Anhui 232001;School of Mechanical Engineering,Anhui University of Science and Technology,Huainan,Anhui 232001)
出处
《绥化学院学报》
2023年第6期141-144,共4页
Journal of Suihua University
基金
安徽省科技重大专项计划项目(16030901012)
安徽理工大学研究生核心课程项目(2021HX013)
关键词
同时定位与建图
路径规划
室内巡检机器人
多目标点导航
simultaneous localization and map building
path planning
indoor inspection robot
multi-objective point navigation
作者简介
张军(1963-),男,福建漳州人,安徽理工大学人工智能学院教授,博士,研究方向:机电一体化和机器人技术等;余志强(1997-),男,安徽蚌埠人,安徽理工大学机械工程学院硕士研究生,研究方向:医疗机器人
