未知环境下室内移动机器人定位导航设计与实现

摘要

In order to achieve the locating and navigation functions of the indoor mobile robot in the unknown environment, we designed an indoor mobile robot which based on robot operating system (robot operating system, ROS). We studied the method of building grid maps and cost maps incrementally, and the adaptive Monte Carlo locating and navigation method, and path planning method which using Trajectory Rollout and Dynamic Window algorithms. The results of test show that the designed autonomous navigation and location software can incrementally draw the environment map, and the planned path is the optimal path. When the robot walks in the room according to the planning path, location accuracy can reach 10 cm and deflection accuracy can reach ± 5° which can achieve the locating and navigation functions of the indoor mobile robot in the unknown environment.%为实现室内移动机器人在未知环境下的定位导航,设计了一台基于机器人操作系统(robot operating system,ROS)的室内移动机器人,研究了增量式构建栅格地图、代价地图的环境地图构建方法和自适应蒙特卡罗(amcl)定位方法以及运用Trajectory Rollout 和Dynamic Window Approaches算法的路径规划方法.实验结果表明:该自主导航与定位软件能增量式绘制环境地图,所规划的路径符合最优路径;机器人按照规划路径行走时的导航定位精度能够达到10 cm,偏转精度达到±5°,能够实现未知环境下室内移动机器人的定位与导航.