基于激光雷达的自主移动机器人实验教学平台设计
Design of Experimental Teaching Platform for Autonomous Mobile Robot Based on Laser Radar
司垒 1王忠宾 1刘扬 1刘新华 1朱远胜1
作者信息
- 1. 中国矿业大学机电工程学院,江苏徐州 221116
- 折叠
摘要
为培养高素质复合型的"新工科"人才,满足相关课程的实验教学需求,设计了基于激光雷达的自主移动机器人实验教学平台.平台涉及机械设计、机器人操作系统开发、同时定位与地图构建(SLAM)、路径规划等相关理论知识.利用平台开发了 Rviz可视化界面、SLAM仿真、室外建图、路径规划等实验项目.实验结果表明,自主移动机器人软硬件系统的基本性能良好,相关SLAM算法、路径规划方法具有可行性.通过该平台开展实验教学,可以显著提升学生解决工程实际问题能力和创新实践能力.
Abstract
In order to cultivate high-quality and compound"new engineering"talents and meet the experimental teaching needs of relevant courses,an autonomous mobile robot experimental teaching platform based on laser radar is designed.The experimental platform involves mechanical design,robot operating system development,simultaneous localization and mapping(SLAM),path planning and other related theoretical knowledge.Using this experimental platform,some experimental projects such as Rviz visual interface,SLAM simulation,outdoor mapping,and path planning are developed.The experimental results verify the basic performance of the software and hardware systems of the autonomous mobile robot,as well as the feasibility of related SLAM algorithms and path planning methods.Through this experimental platform,the ability of students to solve practical engineering problems and innovate and practice can be significantly improved.
关键词
自主移动机器人/激光雷达/地图构建/路径规划/实验教学Key words
autonomous mobile robot/laser radar/map construction/path planning/experimental teaching引用本文复制引用
基金项目
中国矿业大学研究生教育教学改革研究与实践项目(2023YJSJG006)
中国矿业大学教学学术研究课题(2022DLZD02-204)
煤炭行业高等教育研究重大课题(2021MXJG009)
出版年
2024
NETL
NSTL
维普
万方数据