基于ROS平台的SLAM自巡航车辆

2021 IEEE International Conference on Consumer Electronics and Computer Engineering (ICCECE) Pub Date : 2021-01-15 DOI:10.1109/ICCECE51280.2021.9342204

Longan Yang, Haifei Chi

{"title":"基于ROS平台的SLAM自巡航车辆","authors":"Longan Yang, Haifei Chi","doi":"10.1109/ICCECE51280.2021.9342204","DOIUrl":null,"url":null,"abstract":"Using SLAM technology and TEB path planning based on ROS simulation platform to design an autonomous intelligent car. First, the navigation system framework is designed in Gazebo simulation environment. Relying on laser radar to scan the surrounding environment and using gmapping algorithm for SLAM mapping. Use AMCL adaptive Monte Carlo positioning method to locate the car, and perform global path planning and local path planning through move_base. After calculation, cmd_vel is released to the motion controller to control the motion of the car, so as to realize the navigation function of the car.","PeriodicalId":229425,"journal":{"name":"2021 IEEE International Conference on Consumer Electronics and Computer Engineering (ICCECE)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2021-01-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":"{\"title\":\"SLAM Self - Cruise Vehicle Based on ROS Platform\",\"authors\":\"Longan Yang, Haifei Chi\",\"doi\":\"10.1109/ICCECE51280.2021.9342204\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Using SLAM technology and TEB path planning based on ROS simulation platform to design an autonomous intelligent car. First, the navigation system framework is designed in Gazebo simulation environment. Relying on laser radar to scan the surrounding environment and using gmapping algorithm for SLAM mapping. Use AMCL adaptive Monte Carlo positioning method to locate the car, and perform global path planning and local path planning through move_base. After calculation, cmd_vel is released to the motion controller to control the motion of the car, so as to realize the navigation function of the car.\",\"PeriodicalId\":229425,\"journal\":{\"name\":\"2021 IEEE International Conference on Consumer Electronics and Computer Engineering (ICCECE)\",\"volume\":\"12 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2021-01-15\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"2\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2021 IEEE International Conference on Consumer Electronics and Computer Engineering (ICCECE)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICCECE51280.2021.9342204\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2021 IEEE International Conference on Consumer Electronics and Computer Engineering (ICCECE)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICCECE51280.2021.9342204","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 2

摘要

利用SLAM技术和基于ROS仿真平台的TEB路径规划设计自主智能汽车。首先，在Gazebo仿真环境下设计了导航系统框架。依靠激光雷达对周围环境进行扫描，采用gmap算法进行SLAM制图。采用AMCL自适应蒙特卡罗定位方法对小车进行定位，并通过move_base进行全局路径规划和局部路径规划。计算后释放cmd_vel给运动控制器控制小车的运动，从而实现小车的导航功能。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

SLAM Self - Cruise Vehicle Based on ROS Platform

Using SLAM technology and TEB path planning based on ROS simulation platform to design an autonomous intelligent car. First, the navigation system framework is designed in Gazebo simulation environment. Relying on laser radar to scan the surrounding environment and using gmapping algorithm for SLAM mapping. Use AMCL adaptive Monte Carlo positioning method to locate the car, and perform global path planning and local path planning through move_base. After calculation, cmd_vel is released to the motion controller to control the motion of the car, so as to realize the navigation function of the car.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

2021 IEEE International Conference on Consumer Electronics and Computer Engineering (ICCECE)

自引率

0.00%

发文量