基于激光SLAM的展厅服务机器人自主导航研究
江西理工大学, 能源与机械工程学院, 江西南昌 330013
| 摘 要： | 作为引导和介绍参观者进入展厅的重要工具，机器人需要面对可能存在的复杂环境和不断移动的参观者。首先，它需要具备能够实现准确定位、导航以及动态避障的能力。近年来，同步定位和建图技术（Simultaneous localization and mapping, SLAM）已被广泛用于解决未知室内环境中的定位和导航问题。本研究基于机器人操作系统（Robot operating system, ROS），通过2D激光雷达采集环境信息，结合服务机器人的惯性测量单元（Inertial measurement unit, IMU）、里程表和其他传感器，通过Cartographer SLAM算法绘制展厅环境图。实现了路径规划和动态避障功能。选择了全局路径规划算法，以及局部路径规划的动态窗口法（Dynamic Window Approach, DWA）算法进行路径规划。环境地图的构建、路径规划和动态避障功能通过模拟和真实环境得到了验证。在定位测试中，当机器人以0.5米/秒的速度移动时，机器人与目标点的平均位置偏差和标准偏差（Standard deviation, SD）分别小于7cm和3cm。平均航向偏差小于9°，SD小于3°。该机器人的定位和导航能够很好地满足展馆服务机器人的工作要求。 |
| 关 键 词： | 三展厅; 服务机器人; 导航; 雷达; 定位与建图 |
| DOI： | 10.57237/j.mse.2022.01.004 |
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收稿日期: 2022-12-04
接受日期: 2022-12-29
在线出版日期: 2023-01-05
Research on Autonomous Navigation of Showroom Service Robot Based on ROS and Laser SLAM
School of Energy and Mechanical Engineering, Jiangxi University of Science and Technology, Nanchang 330013, China
| Abstract: | As an important tool for guiding and introducing visitors to the exhibition hall, the robot needs to confront the complex environment that may exist and the constantly moving visitors. First of all, it is needed to have the ability to enable accurate positioning and navigation as well as dynamic obstacle avoidance. In recent years, simultaneous localization and mapping (SLAM) technology has been widely used to address localization and navigation issues in unknown indoor environments. Based on the robot operating system (ROS), this study collects environmental information by 2D LiDAR, and then combines the service robot's Inertial measurement unit (IMU), odometer, and other sensors to map the exhibition hall environment by the Cartographer SLAM algorithm. Path planning and dynamic obstacle avoidance functions are also implemented, in path planning, the algorithm is selected for global path planning and the Dynamic Window Approach (DWA) algorithm for local path planning. The environment map construction, path planning and dynamic obstacle avoidance functions are verified by simulation and in real environment. The average position deviation and standard deviation (SD) of the robot from the target point were less than 7 cm and less than 3 cm, respectively, when the robot was set to move at 0.5 m/s for the positioning test. The average heading deviation was less than 9° and SD was less than 3°. The robot's positioning and navigation can well meet the working requirements of the pavilion service robot. |
| Keywords: | Exhibition Hall; Service Robot; Navigation; LIDAR; SLAM |
基金
| 1. | 江西省教育厅科技一般项目 (GJJ200833). |
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