基于ROS的医院服务机器人导航系统研究与仿真
Research and Simulation of Hospital Service Robot Navigation System Based on ROS
梅鑫源 1侯哲生2
作者信息
- 1. 吉林化工学院信息与控制工程学院,吉林 吉林 132022
- 2. 吉林化工学院机电工程学院,吉林 吉林 132022
- 折叠
摘要
针对患者对医院环境不熟悉的问题,提出了一种适用于医院内复杂动态的障碍物环境下的服务机器人自主导航方案.首先创建机器人模型并在Gazebo仿真平台搭建实验所需的仿真环境.然后使用SLAM建图技术与仿真环境中的激光雷达,构建一张仿真环境的二维栅格地图.最后利用ROS中的导航功能包,进行路径规划,实现了机器人移动到目的地.其中全局路径规划算法选择D*Lite算法,适用于动态的环境且具有高效的重新规划路径的能力,满足医院内复杂环境导航的需求.
Abstract
This paper proposes a service robot autonomous navigation scheme suitable for complex and dynamic obsta-cle environments in hospitals,addressing the issue of patients being unfamiliar with the hospital environment.Firstly,create a robot model and set up the simulation environment required for the experiment on the Gazebo simulation platform.Then use SLAM mapping technology and LiDAR in the simulation environment to construct a two-dimensional grid map of the simula-tion environment.Finally,using the navigation function package in ROS for path planning,the robot is able to move to its destination.The global path planning algorithm selected the D*Lite algorithm,which is suitable for dynamic environments and has the ability to efficiently replan paths,meeting the needs of complex environment navigation in hospitals.
关键词
机器人/ROS/复杂环境/路径规划Key words
robot/ROS/complex environment/path planning引用本文复制引用
出版年
2024
NETL
NSTL
万方数据