多ROS移动小车同步定位构图与自主避障方法研究与实现
Research and Implementation of Synchronous Localization and Mapping and Autonomous Obstacle Avoidance Method for Multiple ROS Mobile Vehicles
何瑞 1李继 2韩铭伟 2胡彬 2萨逸娜 2王孟瑜2
作者信息
- 1. 北方工业大学 信息学院,北京 100144
- 2. 北方工业大学伦敦布鲁内尔学院,北京 100144
- 折叠
摘要
单个ROS移动小车已无法完成多类型场景的快速同步定位与构图,为此需要多个ROS机器人的协同定位、构图与自主避障.选择了麦克纳姆轮的全向移动机器人作为单个ROS小车,开展了Gmapping、Hector、Karto和Cartographer四类同步定位与建图方法研究和效果对比分析,完成了多个ROS小车的同步定位与构图实验,实验结果表明基于Gmapping方法精度最高,选择该方法实现定位与构图,在获得环境地图基础上设计了基于领航—跟随方法的多个ROS小车协同避障,并分别进行了有障碍物和无障碍物的自主避障实验,结果表明了自主避障策略的有效性.
Abstract
A single ROS mobile vehicle is no longer able to complete the rapid and synchronous positioning and mapping of multi-type scenes.For this reason,it is necessary to carry out the collaborative localization and mapping and autonomous obstacle avoidance of multiple ROS robots.An omnidirectional mobile robot with McNamee wheel is selected as a single ROS vehicle,and four types of synchronous localization and mapping methods and effect research and comparisons of Gmapping,Hector,Karto and Cartographer are given,and the synchronous localization and mapping experiments of multiple ROS vehicles are completed.The experiment results show that the accuracy of the Gmapping-based method is the highest.This paper selects the method to realize the localization and mapping,designs the multiple ROS vehicles for cooperative obstacle avoidance based on the pilot-follower method on the basis of the obtained environment maps.The autonomous obstacle avoidance experiments with and without obstacles are carried out respectively,and the results verify the effectiveness of the autonomous obstacle avoidance strategy.
关键词
同步定位与构图/ROS小车/SLAM/Gmapping/自主避障Key words
synchronous localization and mapping/ROS vehicle/SLAM/Gmapping/autonomous obstacle avoidance引用本文复制引用
出版年
2024
国家科技期刊平台
NSTL
万方数据