摘要
传统的仓库自动导引车(automated guided vehicle,AGV)一般按照铺设的磁轨道进行作业,导致机器人搬运路线并非最优路线,工作效率较低。研究了一种基于机器人操作系统(robot operating system,ROS)的路径规划自主控制算法,从实际应用场景出发,对移动机器人运行的仓储环境利用同时定位与地图创建(simultaneous localization and mapping,SLAM)构建地图,对传统的A*算法和动态窗口法(dynamic window approach,DWA)算法进行改进优化,并在ROS开发平台上开发程序,进行实验验证。实验结果表明,该方法能有效实现自主导航、动态避障功能以及路径优化,并从路径转折次数、运行总时间、运行总路径长度等角度验证了策略的有效性。
The traditional warehouse logistics automated guided vehicle(AGV)generally are worked on the paved magnetic tracks,which results in the robot s carrying route is not the optimal route and work efficiency is low.An autonomous control algorithm for path planning based on robot operating system(ROS)operating system was proposed.Based on the actual application scenario,the simultaneous localization and mapping(SLAM)map of the warehouse environment operated by mobile robots was constructed,the traditional A^(*)algorithm and DWA algorithm were improved and optimized,and the program was developed on the ROS development platform for experimental verification.Experimental results show that autonomous navigation,dynamic obstacle avoidance and path optimization can be effectively implemented by this method,and the effectiveness of the strategy is verified from the perspectives of the number of path turns,the total running time and the total running path length.
作者
杨桂华
卫嘉乐
YANG Gui-hua;WEI Jia-le(College of Mechanical and Control Engineering,Guilin University of Technology,Guilin 541004,China)
出处
《科学技术与工程》
北大核心
2022年第34期15213-15220,共8页
Science Technology and Engineering
基金
国家自然科学基金地区基金(52065016)
广西研究生教育创新计划(JGY2021091)。
作者简介
第一作者:杨桂华(1971-),女,汉族,广西兴安人,硕士,副教授。研究方向:计算机检测与控制技术。E-mail:954991219@qq.com。
