摘要
移动机器人的路径规划、自主导航与避障技术是目前机器人领域研究的一项十分重要的内容.使用ROS作为机器人的开发平台,利用Rviz建立了双轮差速机器人的仿真模型、采用Gazebo三维仿真平台设计机器人的运动环境、应用A*机器人导航算法,对机器人的路径规划、自主导航与避障功能进行研究.结果表明:设计的机器人可以在未知的环境中完成二维栅格地图的构建并且进行自主导航与避障.
The path planning, autonomous navigation and obstacle avoidance technology of mobile robots is a very important content in the field of robotics. Selected ROS as the development platform of the robot, the simulation model of a two-wheel differential robot is established by using Rviz software, and the robot’s motion environment is designed by using the Gazebo three-dimensional simulation platform. The A* robot navigation algorithm is used to study the robot’s path planning, autonomous navigation and obstacle avoidance functions. The results show that the robot designed in this paper can complete the construction of a two-dimensional grid map and perform autonomous navigation and obstacle avoidance in an unknown environment.
作者
李宏达
范继祥
Li Hongda;Fan Jixiang(Harbin Normal University)
出处
《哈尔滨师范大学自然科学学报》
CAS
2020年第6期16-23,共8页
Natural Science Journal of Harbin Normal University
关键词
ROS地图构建
路径规划
导航与避障
ROS
Map construction
Path planning
Navigation and obstacle avoidance
作者简介
通讯作者:范继祥。
