基于ROS的无人配送车导航系统的设计与实现

针对无人配送车在自主导航过程中存在的寻路效率低、避障能力弱、转折幅度过大等问题,该文采用搭载机器人操作系统(ROS)的Turtlebot3机器人作为无人配送车,设计并实现了高效稳定的无人配送车自主导航系统。ROS是专门用于编写机器人软件的灵活框架,对其集成的SLAM算法进行改进,以完成无人配送车在封闭园区环境中的即时定位与地图构建,同时对ROS导航功能包集成的路径规划算法进行改进,使无人配送车在已知环境地图中规划生成出适合无人配送车工作的路径和有效避开障碍物。最后在Gazebo仿真环境中对无人配送车自主导航系统进行测试与验证。仿真试验结果表明,设计实现的无人配送车导航系统能够很好地满足无人配送车在封闭园区中的自主导航功能。

Design and Implementation of ROS-based Unmanned Distribution Vehicle Navigation System

Aiming at the problems of low path finding efficiency,weak obstacle avoidance ability and excessive turning range in the process of autonomous navigation,the Turtlebot3 robot equipped with robot operating system(ROS) is designed and implemented as an unmanned delivery vehicle. Efficient and stable autonomous navigation system for unmanned delivery vehicles. ROS is a flexible framework for writing robot software. It improves the integrated SLAM algorithm to complete the real-time positioning and map construction of unmanned delivery vehicles in a closed campus environment,and at the same time,the path planning algorithm integrated with ROS navigation function package.Improvements have been made to enable unmanned delivery vehicles to plan in a known environmental map to generate a path suitable for unmanned delivery vehicles and to effectively avoid obstacles. Finally,the unmanned distribution vehicle autonomous navigation system is tested and verified in the Gazebo simulation environment. The simulation test results show that the designed unmanned delivery vehicle navigation system can well meet the autonomous navigation function of the unmanned delivery vehicle in the closed park.