基于机器人操作系统的液压机器人自主导航系统设计与实现

doi:10.3976/j.issn.1002-4026.2022.05.016

Abstract

Abstract:

In this study, a robot track equation is formulated to estimate the state and position of the robot based on a two-wheel differential drive model. Using the robot operating system(ROS) stack package, we design a robot structural model with seven joints and links, including a hydraulic robot body, a robot base, hydraulic motors, guide wheels, and lidar. The transformation of coordinate frames is shown over the Tf of ROS to obtain the coordinates of the robot's position. Because our robot does not possess an encoder and vision system, we use a two-dimensional (2D) planar lidar odometric model (RF2O). The planar motion estimation of the robot is performed by imposing the range flow constraint equation on consecutive lidar scan pairs. Then, the velocity of the lidar sensor and the real-time trajectory of the robot can be estimated. We also implement an autonomous navigation software system with functions such as navigation map building, navigation targeting, and multirobot management. We evaluate the accuracy of the system several times. Based on a comparative analysis of the difference in the data of assigned and navigated locations, the accuracy of robot navigation and position is found to satisfy the design requirements.

Key words: hydraulic driven robot, 2D planar odometry, autonomous navigation, robot operating system, two-wheel differential drive

CLC Number:

TP242.3

LIU Guang-liang, MA Zheng-guang, ZHU Lin, XIAO Yong-fei, ZHANG Yan-fang. Design and implementation of autonomous navigation system comprising a hydraulic driven robot based on robot operating system[J].Shandong Science, 2022, 35(5): 130-139.

Figures/Tables 12

Fig.1

Fig.2

Fig.3

Fig.4

Fig.5

Fig.6

Fig.7

Fig.8

Fig.9

Fig.10

Fig.11

Table 1

测试次数	目标点	规划目标坐标		定位测试结果		误差
测试次数	目标点	X	Y	X	Y	X	Y
1	1	1 041	1 055	1 044.9	1 055.39	-3.9	-0.39
	2	1 041	1 145	1 039.566	1 141.33	1.434	3.67
	3	1 079	1 145	1 076.87	1 147.78	2.13	-2.78
	4	1 079	1 055	1 083.7	1 057.71	-4.7	-2.71
1	1	1 041	1 055	1 043.05	1 052.89	-2.05	2.11
	2	1 041	1 145	1 041.02	1 140.97	-0.02	4.03
	3	1 079	1 145	1 078.72	1 144.85	0.28	0.15
	4	1 079	1 055	1 080.14	1 059.14	-1.14	-4.14
2	1	1 041	1 055	1 042.96	1 053.20	-1.96	1.8
	2	1 041	1 145	1 037.01	1 144.07	3.99	0.93
	3	1 079	1 145	1 078.52	1 149.97	0.48	-4.97
	4	1 079	1 055	1 083.83	1 056.09	-4.83	-1.09

[1]	李贻文, 邹树梁, 张德, 等. 基于ROS的应急监测机器人导航系统设计与实现[J]. 自动化与仪表, 2021, 36(6): 33-37. DOI: 10.19557/j.cnki.1001-9944.2021.06.007. doi: 10.19557/j.cnki.1001-9944.2021.06.007
[2]	刘小军, 温宏愿, 周军, 等. 基于ROS的消毒机器人控制系统设计与实现[J]. 机床与液压, 2021, 49(11): 17-21. DOI: 10.3969/j.issn.1001-3881.2021.11.004. doi: 10.3969/j.issn.1001-3881.2021.11.004
[3]	秦国威, 陈孟元. 基于ROS的移动机器人自动导航系统设计[J]. 黑龙江工业学院学报(综合版), 2021, 21(7): 82-89. DOI: 10.16792/j.cnki.1672-6758.2021.07.015. doi: 10.16792/j.cnki.1672-6758.2021.07.015
[4]	周旭龙, 赵言正, 杨玥旻. 室内移动机器人自主定位导航系统设计[J]. 中国民航大学学报, 2020, 38(5): 55-59. DOI: 10.3969/j.issn.1674-5590.2020.05.011. doi: 10.3969/j.issn.1674-5590.2020.05.011
[5]	石学文, 赵晓晨, 王庆兰, 等. 基于ROS的差分轮式机器人系统的设计[J]. 自动化仪表, 2020, 41(9): 89-93. DOI: 10.16086/j.cnki.issn1000-0380.2020010032. doi: 10.16086/j.cnki.issn1000-0380.2020010032
[6]	丁皓, 刘浩宇, 庄逸, 等. 基于四轮差速模型的多机器人路径规划[J/OL]. 控制工程:1-8. [2022-08-12]. http:doi.org/10.14107/j.cnki.kzgc.20210058.
[7]	刘怀民, 王湘江. 两轮差速移动机器人系统误差调校研究[J]. 自动化仪表, 2020, 41(7): 72-78. DOI: 10.16086/j.cnki.issn1000-0380.2020020022. doi: 10.16086/j.cnki.issn1000-0380.2020020022
[8]	向秀娟, 袁亮, 姜道伟. 双轮差速驱动式室内移动机器人的改进航迹推算方法[J]. 机床与液压, 2016, 44(11): 8-11 DOI: 10.3969/j.issn.1001-3881.2016.11.002. doi: 10.3969/j.issn.1001-3881.2016.11.002
[9]	马国庆, 刘丽, 于正林, 等. 差速轮式移动机器人的导航算法研究及仿真实验[J]. 制造业自动化, 2018, 40(5): 28-31.DOI: 10.3969/j.issn.1009-0134.2018.05.007. doi: 10.3969/j.issn.1009-0134.2018.05.007
[10]	Wiki. urdf[EB/OL].[2019-01-11]. http://wiki.ros.org/urdf.
[11]	李晨阳, 彭程, 张振乾, 等. 融合里程计信息的农业机器人定位与地图构建方法[J]. 农业工程学报, 2021, 37(21):16-23.
[12]	马科伟, 张锲石, 康宇航, 等. 移动机器人中视觉里程计技术综述[J]. 计算机工程, 2021, 47(11): 1-10. DOI: 10.19678/j.issn.1000-3428.0060829. doi: 10.19678/j.issn.1000-3428.0060829
[13]	邓张, 王吉芳, 黄荣锐, 等. 基于传感器融合的同步定位与建图系统[J]. 北京信息科技大学学报(自然科学版), 2021, 36(4): 88-94. DOI: 10.16508/j.cnki.11-5866/n.2021.04.017. doi: 10.16508/j.cnki.11-5866/n.2021.04.017
[14]	JAIMEZ M, MONROY J G, GONZALEZ-JIMENEZ J.Planar odometry from a radial laser scanner. A range flow-based approach[C]// 2016 IEEE International Conference on Robotics and Automation. Stockholm, Sweden. IEEE, 2016: 4479-4485. DOI: 10.1109/ICRA.2016.7487647. doi: 10.1109/ICRA.2016.7487647
[15]	温淑慧, 问泽藤, 刘鑫, 等. 基于ROS的移动机器人自主建图与路径规划[J]. 沈阳工业大学学报, 2022, 44(1): 90-94.
[16]	刘广亮, 刘成业, 郑江花. 基于ROS的移动机器人控制系统实现机制与方法[J]. 山东科学, 2019, 32(4): 107-113. DOI: 10.3976/j.issn.1002-4026.2019.04.015. doi: 10.3976/j.issn.1002-4026.2019.04.015

[1]	LIU Guang-liang, LIU Cheng-ye, ZHENG Jiang-hua. Implementation of a ROS-based mobile robot control system [J]. Shandong Science, 2019, 32(4): 107-113.
[2]	WANG Ya-li, YAN Jiu-xiang, ZHANG Guo-hui, WEI Pan-pan. Research on control system of legtrack complex hoisting robots based on wireless telecontrol technology [J]. SHANDONG SCIENCE, 2018, 31(4): 133-138.
[3]	YAN Jiu-xiang, WANG Ya-li, WEI Pan-pan, ZHANG Guo-hui, JI Fang . Desigh of a control system of newtype cleaning robots for photovoltaics [J]. SHANDONG SCIENCE, 2017, 30(4): 112-117.
[4]	YUAN Jian, ZHANG Wen-Xia, ZHOU Zhong-Hai. Finite-time collision-free coordination control approach for autonomous underwater vehicles [J]. J4, 2012, 25(3): 103-107.

Design and implementation of autonomous navigation system comprising a hydraulic driven robot based on robot operating system

RichHTML

PDF (PC)

Like

Knowledge

Abstract

Cite this article

share this article

Figures/Tables 12

References 16

Related Articles 4

Metrics

Comments

Recommended 0