Intelligent navigation micro-system based on ROS and control method thereof

Abstract

The invention discloses an intelligent navigation micro-system based on a ROS. The intelligent navigation micro-system based on the ROS is characterized by comprising a CPU control calculation module,a sensor module and a sensor data collecting and preprocessing module; the sensor module comprises a laser radar, a depth camera, a monocular camera, an infrared photoelectric switch, an IMU nine-axis gyroscope, a GPS and an encoder; the laser radar, the depth camera and the monocular camera directly send collected data to the CPU control calculation module through a USB interface; the data of the IMU nine-axis gyroscope, the GPS, the infrared photoelectric switch and the encoder is integrated and pre-processed after being collected by the sensor data collecting and preprocessing module, andthe processed data is sent to the CPU control calculation module through a serial communication interface; the CPU control calculation module carrying the ROS performs comprehensive analysis on the sensor carrying situation of a current navigation micro-system and the current external environment through a self-scheduling algorithm, and automatically matches an appropriate navigation algorithm.

Description

technical field [0001] The invention belongs to navigation technology, and in particular relates to a ROS-based intelligent navigation microsystem and a control method thereof. Background technique [0002] In the article "Robot Navigation System Architecture Design Based on ROS", Li Sheng proposed a ROS-based robot navigation system. The robot hardware control system is composed of main controller, ARM controller, smart camera, gyroscope, and DC motor. The encoder uses the counter interface to connect and communicate with the embedded control board. The embedded control board drives the motor to run by setting the voltage value. The smart camera obtains the robot's offset and deflection angle by scanning the QR code and processing it with a specific algorithm. The gyroscope obtains the angle information, and the two encoders can obtain the respective mileage of the two wheels of the robot. After processing, the offset and declination information can be obtained. The soft...

AI Technical Summary

Problems solved by technology

The solution has the following problems: 1. The method of using the smart camera to scan the QR code to obtain the offset and declination greatly limits the environmental adaptability of the navigation system

2. The navigation system does not have the capability of autonomous obstacle avoidance

There are several problems in this scheme: 1. The function of the mobile robot platform is single

2. Poor scalability of the mobile robot platform

Images