Mobile robot indoor environment exploration system and control method based on ROS

A mobile robot and indoor environment technology, applied in the direction of two-dimensional position/channel control, etc., can solve the problem that the operating system cannot meet the needs of practical applications, and achieve the effect of improving reusability

Inactive Publication Date: 2016-04-13
NORTHEASTERN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Existing operating systems such as Player, MOOS, CARMEN, YARP, Orocos, and

Method used

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  • Mobile robot indoor environment exploration system and control method based on ROS
  • Mobile robot indoor environment exploration system and control method based on ROS
  • Mobile robot indoor environment exploration system and control method based on ROS

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Embodiment Construction

[0036] The present invention will be further described below in conjunction with the accompanying drawings.

[0037] The ROS-based mobile robot indoor environment exploration system and control method consist of two parts: software and hardware.

[0038] The hardware part includes: iRobot differential drive chassis and 4 modules of information acquisition unit, data processing unit, motion control unit and remote monitoring unit. The software part includes: ROS navigation stack, HectorSLAM's autonomous mapping algorithm, host computer interface and program, and path planning algorithm.

[0039] The specific implementation steps are as follows.

[0040] Step 1: Use iRobotCreate produced by iRobot Company of the United States as the mobile robot platform to modify and expand.

[0041] The biggest feature of the iRobotCreate mobile robot platform is that it can be programmed. According to the official communication protocol, it can control the movement of the Create chassis and...

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Abstract

The invention discloses a mobile robot indoor environment exploration system and control method based on a ROS (Robot Operating System). The system is based on the ROS, and can realize independent exploration and positioning on indoor environment by a robot. The system mainly uses an iRobot differential drive chassis and UTM 30LX laser radar. An upper computer can obtain position positioning information of the robot and an indoor environment exploration path track in real time, and through data matching of the laser radar, a global map formed by connecting local maps is obtained. The invention provides a more intelligent unknown environment exploration system, provides great convenience and safety guarantee for disaster environment rescue, realizes information interaction of indoor environment perception, and has very good convenience and practicality.

Description

technical field [0001] The present invention relates to a control method related to a mobile robot, specifically based on ROS (Robot Operating System, Robot Operating System), to explore a control method for an indoor environment. Background technique [0002] In recent years, the field of robotics has developed rapidly. For example, disaster detection robots, household service robots, escort robots, and military robots have been widely used. As a highly autonomous intelligent body, mobile robots have flexible movement capabilities and powerful observation equipment. Using the robot's mapping function to replace personnel to explore dangerous unknown environments has become an effective means of rescue work. Although the current various rescue robots can complete a variety of tasks, most of the rescue robots rely on remote control and cannot move in unknown complex spaces without human control. In a disaster environment, the collapsed, smoke-filled environment is unpredicta...

Claims

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Application Information

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IPC IPC(8): G05D1/02
Inventor 石成玉吴成东胡美玉陈建辉
Owner NORTHEASTERN UNIV
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