摘要
基于ROS机器人操作系统的SLAM建图方法作为目前最主流、最具研究价值、商业价值的方法深受广大机器人开发者和企业青睐。本文主要研究内容为对URDF建模的仿真机器人模型进行优化配置,为其添加Gazebo仿真环境标签,使其满足Gmapping功能包仿真实验要求;分析Gmapping功能包的整体框架并对主要参数进行说明,最终实现Gmapping功能包的建图功能。实验表明本文所设计的Gazebo仿真环境能够完成Gmapping功能包建图任务,Gmapping算法可以稳定快速地完成栅格地图构建。
SLAM mapping based on ROS robot operating system is the most mainstream method with the most research value and commercial value, which is favored by robot developers and enterprises. The main research content of this paper is to optimize the configuration of URDF simulation robot model, add Gazebo simulation environment label to it, and make it meet the requirements of Gmapping function package simulation experiment. The overall framework of Gmapping is analyzed and the main parameters explained, and finally the mapping function of Gmapping is realized. Experiments show that the Gazebo simulation environment designed in this paper can complete the task of Gmapping function package mapping, and Gmapping algorithm can complete the construction of raster map stably and quickly.
出处
《软件工程与应用》
2020年第4期294-301,共8页
Software Engineering and Applications
