基于ROS的铁路客站自主移动机器人关键技术研究

杨国元; 吕晓军; 李超; 李依诺

基于ROS的铁路客站自主移动机器人关键技术研究

中国铁道科学研究院集团有限公司电子计算技术研究所, 北京 100081

基金项目:

中国铁路总公司科技研究开发计划课题(Z2017-X003)

详细信息

作者简介:
杨国元,副研究员;吕晓军,研究员。

中图分类号: U291.6;TP242;TP39
计量
- 文章访问数: 122
- HTML全文浏览量: 55
- PDF下载量: 22
出版历程
- 收稿日期: 2019-11-03

Research on key technologies of autonomous mobile robots for railway passenger stations based on ROS

Institute of Computing Technologies, China Academy of Railway Sciences Corporation Limited, Beijing 100081, China

摘要

摘要: 智能服务机器人已成为当前国内外机器人领域的研究热点,其研究成果在人工智能技术的推动下逐步进入人们的日常生活。自主移动作为智能服务机器人重要的智能特征,是保证智能服务机器人实用化的关键。以机器人操作系统(ROS)为基础,对自主移动机器人的架构展开研究,提出自主移动机器人的硬件、软件架构,以该硬件、软件架构为导向,研究基于即时定位与地图构建(SLAM)的地图构建、定位、导航技术,设计了导航系统框架,提出改进型A^*路径搜索算法用于导航路径规划,并在车站对算法进行验证,结果表明比传统A^*路径搜索算法提高约30%的效率,降低了算法搜索时间及复杂度,提高了路径寻优效率,能够满足铁路客运车站内移动机器人定位、导航及路径规划的需求。
- 环境感知 /
- 机器人操作系统(ROS) /
- 移动机器人 /
- 即时定位与地图构建(SLAM) /
- 导航
Abstract: Intelligent service robot has become a research hotspot in the field of robots at home and abroad and the results of the researches on intelligent service robots have gradually entered people's daily life thanks to the push from artificial intelligence technology. As an important intelligent feature of intelligent service robots, autonomous mobility is the key to ensure practical application of intelligent service robots. Based on ROS, the architecture of autonomous mobile robots was studied and the hardware and software architecture design of autonomous mobile robots was also proposed. Based on the hardware and software architecture, SLAM-based map construction, positioning and navigation technologies were studied. Furthermore, the framework of the navigation system was designed and an improved A^* path search algorithm for navigation path planning was proposed and verified by tests conducted at the railway passenger station. The test results showed that the efficiency of the improved A^* path search algorithm was about 30% higher than that of the traditional A^* path search algorithm so as to help reduce the search time and complexity and enhance the optimization efficiency of search path, meeting the application requirements of positioning, navigation and path planning of mobile robots at railway passenger stations.
- environmental perception /
- ROS /
- mobile robot /
- SLAM /
- navigation

HTML全文

参考文献(8)

[1]	廖方波. 基于传感器融合的移动机器人定位及地图构建技术的研究[D]. 北京:北京交通大学, 2014.
[2]	黄虎,黄鹏,钟山,等. 基于激光雷达和高德地图的移动机器人平台设计[J]. 自动化与仪表, 2019, 3(8):34-38.
[3]	E.Voisan, B.Paulis, R.Precup, et al. ROS-based robot navigation and human interaction in indoor environment[C]//IEEE Jubilee International Symposium on Applied Computational Intelligence and Informatics. IEEE, 2015:31-36.
[4]	I.Afanasyev, A.Sagitov, E.Magid. ROS-Based SLAM for a Gazebo-Simulated Mobile Robot in Image-Based 3D Model of Indoor Environment[C]//International Conference on Advanced Concepts for Intelligent Vision Systems. Springer-Verlag New York, Inc. 2015:273-283.
[5]	左轩尘,韩亮亮,庄杰,等. 基于ROS的空间机器人人机交互系统设计[J]. 计算机工程与设计, 2015(12):3370-3374.
[6]	寿佳鑫,张志明,苏永清,等. 基于ROS和激光雷达的室内移动机器人定位和导航系统设计与实现[J]. 机械与电子, 2018, 36(11):76-80.
[7]	史天运,张春家. 铁路智能客运车站系统总体设计及评价[J]. 铁路计算机应用, 2018, 27(7):9-16.
[8]	李卓. 动车组故障检测机器人系统的设计与实现[J]. 铁路计算机应用, 2017, 26(7):24-26 , 36.