基于ROS的全方位移动机器人SLAM实验研究
首发时间:2016-05-25
摘要:为实现低成本高精度的四轮独立驱动全方位移动机器人的SLAM(同时定位与制图),在实验室搭建的四轮独立驱动全方位移动机器人平台上添加用于数据采集与处理的开源控制器、Kinect视觉传感器与笔记本电脑。使用扩展卡尔曼滤波算法对基于编码器数据得到的里程估计和基于Kinect视觉里程计得到的里程估计进行数据融合,获得精确的机器人位姿。通过Kinect获得深度数据测量机器人与障碍物之间的距离。最后基于ROS(机器人操作系统)生成实时地图。
关键词: 全方位移动机器人 ROS Kinect SLAM 扩展卡尔曼滤波
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Experimental Research of SLAM based on ROS for Omni-directional Mobile Robot
Abstract:To achieve low-cost high-precision SLAM(simultaneous localization and mapping) of four-wheel independent driving omni-directional mobile robot. Open source controller, Kinect and labtop for data collecting and processing were added on the four-wheel independent driving omni-directional mobile robot in our lab. Using the Extended Kalman Filter algorithm fuses odometry estimates from the encoder and Kinect visual odometer, obtain accurate robot pose. The distance between the robot and the obstacles is measured by Kinect depth data. Finally, real-time map based on ROS(Robot Operating System) is generated .
Keywords: Omni-directional mobile robot ROS Kinect SLAM EKF
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