Intelligent trolley of autonomous navigation robot control system based on ROS

A control system and smart car technology, applied in control/regulation systems, two-dimensional position/channel control, motor vehicles, etc., can solve the problems of poor navigation and positioning, backward path planning algorithms, and inability to calculate paths, etc. problem, to achieve the effect of enhancing motion ability and robustness, low cost, and sensitive speed control

Inactive Publication Date: 2021-06-18
南京理工大学紫金学院
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AI Technical Summary

Problems solved by technology

[0003] The path planning algorithm of the previous series of navigation cars is relatively backward. For the slightly harsh environmental conditions, the best path cannot be calculated, and tasks such as navigation and positioning cannot be well completed. Based on the above problems, a more advanced car is needed. The smart car of the control system to solve the above problems

Method used

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  • Intelligent trolley of autonomous navigation robot control system based on ROS
  • Intelligent trolley of autonomous navigation robot control system based on ROS
  • Intelligent trolley of autonomous navigation robot control system based on ROS

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Embodiment 1

[0043] refer to Figure 1~Figure 16 , is the first embodiment of the present invention, provides a kind of intelligent car of the autonomous navigation robot control system based on ROS, comprises:

[0044] S1: The car is equipped with a laser radar, a camera and a gravity acceleration sensor, and the laser radar is used to obtain the current position, distance information and environmental information of the car itself.

[0045] S2: Create a grid map based on the robot operating system, and use the SLAM algorithm and depth camera vision fusion to construct a 3D point cloud map.

[0046] S3: The car uses the robot operating system to sense the distance information and the visual odometer of the RGB-D depth camera to generate a three-dimensional point cloud map.

[0047] S4: The robot operating system corrects the three-dimensional point cloud map according to the GPS when the path forms a loop, and calculates the path of the car to avoid obstacles.

[0048] refer to figure...

Embodiment 2

[0091] refer to Figure 17~Figure 19 , which is the second embodiment of the present invention. This embodiment is different from the first embodiment in that it provides a hardware module of a smart car of a ROS-based autonomous navigation robot control system, which specifically includes:

[0092] refer to Figure 17 , using STM32F103 as the main controller to output the PWM for controlling the motor and the motor, read the encoder and IMU (inertial measurement unit) data at the same time, and send it to the upper computer Jeston nano through the serial port, and the Jeston nano performs the main calculation, in the drawing mode Next, the map is constructed by obtaining the data of the lidar and the depth camera. In the navigation mode, the lidar and the depth camera are used to match the feature points to estimate the robot's own pose, calculate the motion path, and send the control expectation to the lower computer STM32.

[0093] refer to Figure 18 , 12V power input, L...

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Abstract

The invention discloses an intelligent trolley of an autonomous navigation robot control system based on an ROS, and the method comprises the steps: carrying a laser radar, a camera and a gravity acceleration sensor on a trolley, and obtaining the current position, distance information and environment information of the trolley through the laser radar; creating a grid map based on a robot operating system, and constructing a three-dimensional point cloud map by utilizing an SLAM algorithm and depth camera visual fusion; performing environment perception on the distance information and a visual odometer of an RGB-D depth camera by using the robot operating system to generate the three-dimensional point cloud map by the trolley ; and correcting the three-dimensional point cloud map according to the GPS when a path forms a loop by the robot operating system, and calculates the path of the trolley to avoid obstacles. According to the invention, the motion ability and robustness of the robot are enhanced to a great extent, and more accurate positioning is realized on odometer and encoder data, so that the positioning is more accurate.

Description

technical field [0001] The invention relates to the technical field of robot software development, in particular to an intelligent car of a ROS-based autonomous navigation robot control system. Background technique [0002] For today's fast-growing technology, in terms of navigation technology, the development of smart car-type navigation is not perfect, and the requirements for the environment in the navigation process are relatively strict. Navigation, navigation based on known maps, and navigation based on incremental maps can do a good job of identifying, positioning and exploring. [0003] The path planning algorithm of the previous series of navigation cars is relatively backward. For the slightly harsh environmental conditions, it is impossible to calculate the best path and cannot complete tasks such as navigation and positioning well. Based on the above problems, a more advanced car is needed. The control system of the smart car to solve the above problems. Conte...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0221G05D1/0223G05D1/024G05D1/0251G05D1/0276G05D1/0278G05D2201/02
Inventor 周月娥傅家云刘寅飞梅佳锐王玉珏
Owner 南京理工大学紫金学院
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