基于ROS的全向轮自主移动底盘平台研制
Omnidirectional Wheel Autonomous Mobile Chassis Platform Based on ROS
邓洋 1陈泽君 1李科逸 1王福杰 1谢仲业1
作者信息
- 1. 东莞理工学院卓越工程师学院,广东 东莞 523808
- 折叠
摘要
针对机器人移动底盘在复杂环境中响应速度慢、缺乏自主移动能力的问题,研制了一种基于ROS的全向移动四轮自主导航底盘平台.该平台包含移动机器人机械底盘、激光雷达、ROS驱动的软件系统,采用STM32F407 单片机系统作为软硬件转化的中间层.机械底盘设计采用"井"字构型框架,包含 4 个由大疆 3508 电机驱动的全向轮,上层ROS主机接收传感器信号并完成运动解算后通过单片机系统与底盘电机通信,并借助激光雷达和里程计实现了SLAM定位与导航,从而完成整体控制流程.系统测试结果表明,研制的ROS驱动全向轮自主移动平台响应速度快、运动平稳,在复杂环境中自主移动能力强,具有较好的精确性与鲁棒性.
Abstract
In response to the slow response speed and lack of autonomous mobility of robot mobile chassis in complex environments,a ROS-based omnidirectional four-wheel autonomous navigation chassis platform is developed.This platform consists of a mobile robot mechanical chassis,a laser radar,and a software system driven by ROS,with the STM32F407 microcontroller system serving as an intermediate layer for software and hardware conversion.The mechanical chassis de-sign adopts a#shape configuration framework,which includes four omnidirectional wheels driven by DJI 3508 motors.The upper-level ROS host receives sensor signals,performs motion calculations,communicates with the chassis motors through the microcontroller system,and utilizes laser radar and odometry to achieve SLAM localization and navigation,thereby com-pleting the overall control process.
关键词
ROS/四轮系底盘/全向轮/移动机器人/自主导航Key words
ROS/four wheel chassis/omnidirectional wheels/mobile robots/autonomous navigation引用本文复制引用
出版年
2024
NETL
NSTL
万方数据