[1]李元,王石荣,于宁波.基于RGB-D信息的移动机器人SLAM和路径规划方法研究与实现[J].智能系统学报,2018,13(03):445-451.[doi:10.11992/tis.201702005]
 LI Yuan,WANG Shirong,YU Ningbo.RGB-D-based SLAM and path planning for mobile robots[J].CAAI Transactions on Intelligent Systems,2018,13(03):445-451.[doi:10.11992/tis.201702005]
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基于RGB-D信息的移动机器人SLAM和路径规划方法研究与实现(/HTML)
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《智能系统学报》[ISSN:1673-4785/CN:23-1538/TP]

卷:
第13卷
期数:
2018年03期
页码:
445-451
栏目:
出版日期:
2018-05-05

文章信息/Info

Title:
RGB-D-based SLAM and path planning for mobile robots
作者:
李元12 王石荣12 于宁波12
1. 南开大学 机器人与信息自动化研究所, 天津 300353;
2. 南开大学 天津市智能机器人技术重点实验室, 天津 300353
Author(s):
LI Yuan12 WANG Shirong12 YU Ningbo12
1. Institute of Robotics and Automatic Information Systems, Nankai University, Tianjin 300353, China;
2. Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin 300353, China
关键词:
移动机器人RGB-DSLAMGMapping路径规划二次规划曲线拟合非线性控制
Keywords:
mobile robotRGB-DSLAMGMappingpath planningquadratic programmingcurve fittingnonlinear control
分类号:
TP242.6
DOI:
10.11992/tis.201702005
摘要:
移动机器人在各种辅助任务中需具备自主定位、建图、路径规划与运动控制的能力。本文利用RGB-D信息和ORB-SLAM算法进行自主定位,结合点云数据和GMapping算法建立环境栅格地图,基于二次规划方法进行平滑可解析的路径规划,并设计非线性控制器,实现了由一个运动底盘、一个RGB-D传感器和一个运算平台组成的自主移动机器人系统。经实验验证,这一系统实现了复杂室内环境下的实时定位与建图、自主移动和障碍物规避。由此,为移动机器人的推广应用提供了一个硬件结构简单、性能良好、易扩展、经济性好、开发维护方便的解决方案。
Abstract:
To accomplish various tasks, mobile robots need the capabilities of autonomous localization, mapping, path planning, and motion control. In this paper, an autonomous robot system was realized using a mobile platform, an RGB-D sensor, and a computing unit. Localization was achieved using the ORB-SLAM algorithm based on RGB-D information, and the 2D grid map was built-up using the GMapping algorithm with localization and point cloud data. A smooth path was produced by point generation and curve fitting with quadratic programming. The robot motion was regulated by a nonlinear controller. The proposed system and methods were validated by experiments and the results show that the system can realize real-time localization and mapping, autonomous movement, and obstacle avoidance in a complex indoor environment. Therefore, the research provides a solution with the following merits for promotion and application of mobile robots:simple hardware structure, excellent performance, easy extension, as well as economical and convenient development and maintenance.

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备注/Memo

备注/Memo:
收稿日期:2017-02-16。
基金项目:国家自然科学基金项目(61720106012);机器人学国家重点实验室开放课题项目(2016-003).
作者简介:李元,男,1990年生,硕士研究生,主要研究方向为移动服务机器人;王石荣,男,1993年生,硕士研究生,主要研究方向为移动服务机器人;于宁波,男,1981年生,副教授,博士,主要研究方向为机器人与智能系统、人与机器人的交互、协作与控制、智能服务和医疗辅助机器人。
通讯作者:于宁波.E-mail:nyu@nankai.edu.cn.
更新日期/Last Update: 2018-06-25