为了实现对室内高维度信息的获取和对机器人技术在实际应用上的探索,设计了一款基于ROS(Robot Operating System)和视觉SLAM(Simultaneous Localization and Mapping)的室内移动机器人.机器人采用差速驱动方式实现转向,以装有ROS系统的树莓派作为主要算力,利用RGB-D相机采集环境数据,在RT-AB-MAP算法下实现同步定位与地图构建.实验测试结果表明,机器人可以实现室内构建地图和同步定位,完成导航任务,对视觉SLAM研究有重要意义.
Researchon Indoor Navigation Robot Based on ROS and Visual SLAM
In order to realize the acquisition of indoor high-dimensional information and the exploration of robotics in practi-cal applications,an indoor mobile robot based on ROS and vision SLAM is designed.The robot adopts a differential drive to realize steering,uses Raspberry Pi equipped with ROS system as the main arithmetic power,utilizes an RGB-D camera to collect environ-mental data,and realizes simultaneous localization and map construction under the RTAB-MAP algorithm.The experimental test re-sults show that the robot can realize indoor map construction and synchronous localization to complete the navigation task,which is important for visual SLAM research.
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