室内移动机器人自主定位导航系统设计

中国民航大学学报 ›› 2020, Vol. 38 ›› Issue (5): 55-59.

室内移动机器人自主定位导航系统设计

周旭龙，赵言正，杨玥旻

上海交通大学机械与动力工程学院，上海200240

出版日期:2020-10-25 发布日期:2020-10-23
作者简介:周旭龙（1994—），男，山东潍坊人，硕士研究生，研究方向为移动机器人自主定位与导航.

Design of autonomous localization and navigation system for indoor mobile robot

ZHOU Xulong, ZHAO Yanzheng, YANG Yuemin

School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China

Online:2020-10-25 Published:2020-10-23

摘要/Abstract

摘要： 出一种基于机器人操作系统渊ROS冤的室内全方位移动机器人自主定位导航系统，以Nvidia Jetson TX2 嵌入式计算机作为上层计算平台，通过激光雷达感知环境，并融合轮式里程计和单轴惯性测量单元，使用基于粒子滤波的自适应蒙特卡洛算法对机器人进行定位。根据A* 和紧绷带（TEB）算法规划最优路径，实现移动机器人自主导航和避障功能。Stage 仿真及场地实验结果均表明，该系统不仅可自主精确定位机器人并构建高精度环境地图，还可规划最优路径并快速绕过动态障碍物。

关键词: 移动机器人, 同时定位与地图构建, 室内定位与导航, 激光雷达, 机器人操作系统

Abstract:

An autonomous localization and navigation system is designed for omnidirectional indoor mobile robots, which takes NVIDIA Jetson TX2 as upper computing platform and senses surrounding environment by lidar. Integrating wheel odometer and single axis inertial measurement unit, the designed system locates the robot by using selfadaptive Monte -Carlo algorithm basing on particle wave filter and implements autonomous navigation and obstacles avoidance by A-star algorithm and TEB algorithm. Results of Stage simulation and field experiment both show that the designed system can autonomously and accurately locate the robot, construct surrounding map with high accuracy, plan optimal path and help the robot avoid dynamic obstacles in time.

Key words: mobile robot, simultaneous localization and mapping, indoor localization and navigation, lidar, robot operating
system

中图分类号:

TP242

周旭龙, 赵言正, 杨玥旻. 室内移动机器人自主定位导航系统设计[J]. 中国民航大学学报, 2020, 38(5): 55-59.

ZHOU Xulong, ZHAO Yanzheng, YANG Yuemin. Design of autonomous localization and navigation system for indoor mobile robot[J]. Journal of Civil Aviation University of China, 2020, 38(5): 55-59.

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