激光雷达的AGV机器人系统设计与研究
Design and research of AGV robot system based on lidar
陈锦旗 1逯镓伟 1管佳榆 1杨丹1
作者信息
- 1. 闽南师范大学物理与信息工程学院,福建 漳州 363000
- 折叠
摘要
针对自动导引车(automatic guided vehicle,AGV)机器人缺乏智能化和通用性的问题,在机器人操作系统(robot operating system,ROS)平台开发一款基于激光雷达构建地图和自主导航的履带型AGV样机.首先,采用履带式行走系统增强AGV的通过性,并配置单线激光雷达以降低系统成本.在此基础上,尝试使用Cartographer和Gmapping这两种主流的即时定位与地图构建(simultaneous localization and mapping,SLAM)算法构建场景地图,并配合路径规划算法实现路径规划和自主导航.试验结果表明,样机所配置的硬件和算法能良好兼容,从而保证AGV机器人能在随机路径的运输任务下,快速有效的构建地图和实现在线导航.
Abstract
This study introduces the development of a tracked automated guided vehicle(AGV)proto-type based on laser radar mapping and autonomous navigation using the robot operating system(ROS)platform to address the lack of intelligence and versatility of low-cost AGV robots.The hard-ware features a tracked walking system to enhance the AGV׳s passability and a single-line lase radar is configured to reduce system costs.Two mainstream simultaneous localization and mapping(SLAM)algorithms,Cartographer and Gmapping,are employed at the algorithmic level,combined with path planning algorithms to achieve path planning,and autonomous navigation functions.The test results demonstrate that the hardware and algorithm of the prototype are well compatible and AGV robot can quickly and effectively build maps and adapt to non-fixed path scenarios for automat-ed transportation tasks.
关键词
自动导向小车(AGV)/机器人操作系统(ROS)/激光雷达/即时定位与地图构建(SLAM)Key words
automated guided vehicle(AGV)/robot operating system(ROS)/lidar/simultaneous lo-calization and mapping(SLAM)引用本文复制引用
基金项目
福建省教育厅中青项目(JAT220201)
出版年
2024
NETL
NSTL
万方数据