基于ROS的模块化分体式机器人设计
Design of Modular Split Robot Based on ROS
魏乐 1赵茂竹 1郭俊成 1杨浩 1龚吉才 1杨永辉1
作者信息
摘要
随着机器人技术的发展,移动式机器人在环境监测方向受到了越来越多的关注,并逐渐被广泛应用.目前市面上常见的ROS无人小车,已经具备了自主导航建图、机器视觉等相关功能,但依旧存在成本高昂、单一系统探索速度慢等缺点.针对控制成本和提高探索效率的实际需求,设计了一套基于ROS的分体式机器人设计,该机器人由一套主控机和多套从控机组成,可实现主控机与从控机的分离与合并,多套从控机同时在未知环境中自主探索和收集数据.该机器人满足野外废墟、山洞等复杂环境的监测需求,在环境监测领域有很高的应用价值.
Abstract
A set of ROS based split robot is designed in this paper.The robot consists of one main control computer and multiple slave control computers,which can achieve the separation and merging of the main control computer and the slave control computer.Multiple slave control computers can independently explore and collect data in unknown environ-ments at the same time.This robot meets the monitoring needs of complex environments such as wilderness ruins and caves,and has great application value in the field of environmental monitoring.
关键词
ROS/SLAM/从控机/主控机/SocketKey words
ROS/SLAM/slave computer/master computer/Socket引用本文复制引用
基金项目
辽宁省大学生创新创业训练计划(202110146035)
出版年
2024
NETL
NSTL
万方数据