| 分布式室内移动机器人的定位与导航 |
| |
| 引用本文： | 白亮亮'',平雪良'',仇恒坦'',张颖'',蒋 毅''. 分布式室内移动机器人的定位与导航[J]. 华南农业大学学报(社会科学版), 2016, 34(4) |
| |
| 作者姓名： | 白亮亮'' 平雪良'' 仇恒坦'' 张颖'' 蒋 毅'' |
| |
| 作者单位： | 1．江南大学机械工程学院，江苏无锡214122：2．江南大学江苏省食品先进制造装备技术重点实验室，江苏无锡214122 |
| |
| 基金项目： | 江苏省2014年普通高校研究生实践创新计划项目( SJ22_0147)。 |
| |
| 摘 要： | 针对当前移动机器人定位与导航成本较高的问题，提出了一种低成本、高性能的分布式导航方案。以性价比较高的RPLIDAR激光传感器为核心，采用分布式软件的设计思想，设计了传感器的软件接口；采用DWA方法进行局部路径规划。设计实现了移动机器人的定位与导航。实验结果表明该方案具有可行性与高效性。
|
| 关 键 词： | 定位导航；激光传感器；机器人操作系统；路径规划 |
Research on Localization and Navigation for Distributing Indoor Mobile Robot |
| |
| BAI Liangliangl'',PING Xueliangl,QIU Hengtanl,ZHANG Yingl,JIANG Yjl. Research on Localization and Navigation for Distributing Indoor Mobile Robot[J]. Journal of South China Agricultural University:Social Science Edition, 2016, 34(4) |
| |
| Authors: | BAI Liangliangl'' PING Xueliangl QIU Hengtanl ZHANG Yingl JIANG Yjl |
| |
| Affiliation: | 1. School of Mechanical Engineering,Jiangnan University , Wuxi, Jiangsu 214122 , China ; 2. Jiangsu Province Key Laboratory of Advanced Food Manufacturing Equipment and Technology , Jiangnan University , Wuxi , Jiangsu 214122 , China |
| |
| Abstract: | In view of the current mobile robot localization and navigation has the problem of high cost, a low-cost, high-performance distributed navigation scheme was presented. Using high cost performance RPLIDAR laser sensor as thecore, this paper adopted the distributed software design idea, and the software interface of sensor was designed; DWAmethod was adopted for local path planning. The experimental results showed that this scheme was feasible and effectiveto implement localization and navigation of the mobile robot. |
| |
| Keywords: | localization and navigation laser sensor ROS( Robot Operating System) path planning |
|
| 点击此处可从《华南农业大学学报(社会科学版)》浏览原始摘要信息 |
|
点击此处可从《华南农业大学学报(社会科学版)》下载全文 |
