ROS支持下的挖掘机控制系统设计
Design of Excavator Control System Supported by ROS
王荣亮 1张道秋 1樊磊1
作者信息
- 1. 山东帝盟重工机械有限公司,禹城 251200
- 折叠
摘要
探讨基于机器人操作系统(Robot Operating System,ROS)的智能挖掘机控制系统设计方案.构建一个模块化的系统架构,包含感知模块、决策模块、路径规划模块、控制模块以及仿真模块.通过深入比较快速扩展随机树(Rapidly-exploring Random Tree,RRT)算法和RRT-connect算法,发现RRT-connect算法更适合挖掘机运动规划,所设计的系统在复杂动态环境下展现出良好的规划效率和运行稳定性,为智能挖掘机的实际应用提供了可靠的技术支持.
Abstract
The design scheme of intelligent excavator control System based on Robot Operating System(ROS)is discussed.A modular system architecture is constructed,including perception module,decision module,path planning module,control module and simulation module.By comparing Rapidly exploring Random Tree(RRT)algorithm and RT-CONNECT algorithm,it is found that RT-CONNECT algorithm is more suitable for excavator movement planning.The designed system shows good planning efficiency and running stability under complex dynamic environment,and provides reliable technical support for the practical application of intelligent excavator.
关键词
智能挖掘机/控制系统/机器人操作系统(ROS)Key words
intelligent excavator/control system/Robot Operating System(ROS)引用本文复制引用
出版年
2024
NETL
NSTL
万方数据