[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(3):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(3):445-451.[doi:10.11992/tis.201702005]
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LI Yuan,WANG Shirong,YU Ningbo.RGB-D-based SLAM and path planning for mobile robots[J].CAAI Transactions on Intelligent Systems,2018,13(3):445-451.[doi:10.11992/tis.201702005]
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
《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷:
13
期数:
2018年第3期
页码:
445-451
栏目:
学术论文—智能系统
出版日期:
2018-05-05
- Title:
- RGB-D-based SLAM and path planning for mobile robots
- Keywords:
- mobile robot; RGB-D; SLAM; GMapping; path planning; quadratic programming; curve fitting; nonlinear control
- 分类号:
- TP242.6
- 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
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