ROS based service robot and indoor navigation method thereof

Abstract

The invention relates to an ROS based service robot and indoor navigation method thereof. The service robot includes a mobile chassis, a housing, a support frame, an upper layer PC and a bottom layer PC, wherein the mobile chassis includes a wheel unit, a motor, a motor control panel, a gyroscope, an encoder, an electronic compass, a power source, an anti-collision module and a data collection module. The housing is equipped with a touch screen. The upper layer PC and the bottom layer PC are both equipped with a robot operation system ROS. The navigation method includes that the service robot acquires indoor environment information and creates an indoor two-dimensional map; a target position is set after the map is loaded in a visible window and the position of the robot itself is determined; an overall path is planned by utilizing an overall path planning interface provided by ROS and unknown barriers which are namely movable objects or unknown areas appearing in a navigation process are avoided by utilizing a partial path planning interface provided by ROS.

Description

technical field [0001] The invention belongs to the technical field of service robots, in particular to a ROS-based service robot and an indoor navigation method thereof. Background technique [0002] In recent years, with the rapid development of science and technology and the needs of society, service robot technology has also been continuously developed. Service robots have gradually entered various fields of daily life such as home use, business, tour guide, medical treatment, education, and security. In today's society where the population is aging and the pressure of life is increasing, people need service robots to provide better services. According to the current market data, most of the household service robots are cleaning robots and weeding robots. Most of them can only complete tasks according to pre-set orders, lack the ability to solve emergencies, and even lack rich human-computer interaction functions. , In addition, the food delivery robots currently in use...

AI Technical Summary

Problems solved by technology

According to the current market data, most of the household service robots are cleaning robots and weeding robots. Most of them can only complete tasks according to pre-set orders, lack the ability to solve emergencies, and even lack rich human-computer interaction functions. , In addition, the food delivery robots currently in use need to walk along the pre-set magnetic navigation bar during the food delivery process, and the autonomy in the navigation process is low.

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