微型机器人自动驾驶算法的实现

Q2 Computer Science

International Journal of Electrical and Electronic Engineering and Telecommunications Pub Date : 2022-01-01 DOI:10.18178/ijeetc.11.2.138-145

Shreyash G. Patil, Kishanprasad G. Gunale

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引用次数: 0

摘要

本文主要尝试在TurtleBot3华夫饼派上实现多种图像处理算法，用于机器人操作系统(ROS)的自动驾驶。在这项工作中使用的图像处理算法用于开发基于视觉的自动驾驶系统。在硬件上实际实现之前，算法首先在仿真中进行了测试。从机器人的传感器收集时间同步的数据馈送。然后对收集到的数据进行进一步处理，以使用执行器执行控制动作。通过在仿真和真实机器人上改变不同的参数，对相同算法下的机器人性能进行了测试和优化。

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Implementation of Autonomous Driving Algorithms on a Miniature Robot

The proposed work mainly attempts to implement numerous image processing algorithms on TurtleBot3 Waffle Pi for autonomous driving using Robot Operating System (ROS). The image processing algorithms used in this work for developing a vision-based system for autonomous driving. Before actual implementation on hardware, the algorithms are first tested in simulation. The time-synchronized data feed is collected from the sensors of the robot. Then the collected data is further processed to perform controlling actions using actuators. The robot's performance is tested and optimized for the same algorithms by varying different parameters in simulation and on a real robot.

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来源期刊

International Journal of Electrical and Electronic Engineering and Telecommunications Engineering-Electrical and Electronic Engineering

CiteScore

5.90

自引率

0.00%

发文量

期刊介绍： International Journal of Electrical and Electronic Engineering & Telecommunications. IJEETC is a scholarly peer-reviewed international scientific journal published quarterly, focusing on theories, systems, methods, algorithms and applications in electrical and electronic engineering & telecommunications. It provide a high profile, leading edge forum for academic researchers, industrial professionals, engineers, consultants, managers, educators and policy makers working in the field to contribute and disseminate innovative new work on Electrical and Electronic Engineering & Telecommunications. All papers will be blind reviewed and accepted papers will be published quarterly, which is available online (open access) and in printed version.