首页|基于ROS和激光雷达SLAM的动态避障研究

基于ROS和激光雷达SLAM的动态避障研究

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针对Gmapping算法不适用于构建大场景地图的问题,采用带有回环检测的Cartographer算法进行即时定位与建图(SLAM).同时,针对全局路径规划A∗算法可以得到全局路径但不能有效躲避动态障碍物、局部路径规划时间弹性带(TEB)算法可以躲避障碍物但规划的路径可能只是局部最优而非全局最优的问题,提出了融合A∗算法和TEB算法的导航避障方法.通过多层代价地图中静态层、障碍层和膨胀层的有效结合,为路径规划A∗算法和TEB算法提供了便捷的规划环境.对导航环境中静态和动态障碍物进行了研究.试验结果表明,两种路径规划算法融合后可准确躲避静态障碍物、新出现的障碍物和动态障碍物,且能快速到达目标点.
Dynamic Obstacle Avoidance Research Based on ROS and Lidar SLAM
Aiming at the problem that the use of Gmapping algorithm is not suitable for constructing large scene maps,Cartographer algorithm with loopback detection is used to realize simultaneous localization and mapping(SLAM).Meanwhile,for the problem that global path planning A∗ algorithm can get global path but cannot effectively avoid dynamic obstacles,and local path planning time elastic band(TEB)algorithm can avoid obstacles,but the planned path may only be locally optimal rather than globally optimal,a navigation and obstacle avoidance method that integrates A∗ algorithm and TEB algorithm is proposed.Through the effective combination of static,obstacle and expansion layers in the multilayer cost map,a convenient planning environment is provided for the path planning A∗ algorithm and TEB algorithm.Static and dynamic obstacles in the navigation environment are investigated.The experimental results show that the fusion of the two path planning algorithms can accurately avoid static obstacles,emerging obstacles and dynamic obstacles,and can reach the target point quickly.

Robot operating system(ROS)LidarSimultaneous localization and mapping(SLAM)Dynamic obstacle avoidanceLoopback detectionA∗ algorithmTime elastic band(TEB)algorithmMultilayer cost map

黄鼎键、杨华山、钟勇、江灏、林铭昊

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福建省汽车电子与电驱动技术重点实验室,福建 福州 350118

福州市汽车机电行业技术创新中心,福建 福州 350118

机器人操作系统 激光雷达 即时定位与建图 动态避障 回环检测 A∗算法 时间弹性带算法 多层代价地图

福州市科技重大基金国家留学基金

2022-ZD-008202109360001

2024

10.16086/j.cnki.issn1000-0380.2023010023

自动化仪表
中国仪器仪表学会 上海工业自动化仪表研究院

自动化仪表

CSTPCD
影响因子：0.655
ISSN：1000-0380
年,卷(期)：2024.45(5)
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