基于ORB-SLAM的室内服务移动机器人定位导航方法

Shirong Wang, Yuan Li, Yue Sun, Xiaobin Li, Ning Sun, Xuebo Zhang, Ningbo Yu
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引用次数: 10

摘要

自主移动机器人需要获取环境信息进行定位和导航,因此通常配备各种传感器。因此,该系统复杂且昂贵,为一般家庭应用带来了障碍。在本文中,我们提出了一种高效,经济和简单的室内自主机器人解决方案,包括一个基本的移动平台,一个Kinect V2传感器和一个运行Linux的计算单元。在ROS环境下,开发并实现了ORB-SLAM算法、点云处理方法和反馈控制器,分别用于定位、障碍物检测与避障和导航。实验结果表明,该系统具有鲁棒的定位、安全流畅的导航、良好的运动控制精度和可重复性,验证了系统架构和算法的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
A localization and navigation method with ORB-SLAM for indoor service mobile robots
Autonomous mobile robots need to acquire environment information for localization and navigation, and thus are usually equipped with various sensors. Consequently, the system is complex and expensive, bringing obstacles for general home applications. In this paper, we present an efficient, yet economic and simple solution for indoor autonomous robots, consisting of a basic mobile platform, a Kinect V2 sensor and a computing unit running Linux. Within the ROS environment, the ORB-SLAM algorithm, pointcloud processing methods and a feedback controller have been developed and implemented respectively for localization, obstacle detection and avoidance, and navigation. Experimental results showed robust localization, safe and smooth navigation, good motion control accuracy and repeatability, demonstrating the efficacy of the system architecture and algorithms.
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