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ROS-based general control system for an automatic navigation robot

A general-purpose control and robotics technology, applied in control/regulation systems, two-dimensional position/channel control, non-electric variable control, etc., can solve problems such as poor compatibility of various control terminals, and achieve the effect of improving compatibility

Inactive Publication Date: 2018-08-07
ZHEJIANG UNIV OF TECH
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  • Application Information

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Problems solved by technology

[0003] The purpose of the present invention is to solve the problem that the existing ROS navigation function package has poor compatibility with various control terminals, and proposes a general control system for automatic navigation robots based on ROS

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  • ROS-based general control system for an automatic navigation robot
  • ROS-based general control system for an automatic navigation robot
  • ROS-based general control system for an automatic navigation robot

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Embodiment Construction

[0035] The present invention will be further described below in conjunction with accompanying drawing:

[0036] Such as Figure 1-7 As shown, the ROS-based general control system for automatic navigation robots of the present invention is characterized in that: it includes a core controller 1, a human-computer interaction interface 2, an image acquisition device 3, and a control terminal 4. The core controller 1 is composed of a Slam (Simultaneous Localization And Mapping real-time positioning and map construction) module 11, a navigation module 12, an upper computer driver module 13, and an upper computer communication module 14, and the upper computer communication module 14 consists of human-computer interaction The interface communication module 141, the control terminal communication module 142, and the image data communication module 143 are composed. The human-computer interaction interface 2 is composed of a manipulation module 21, a Slam visualization module 22, a na...

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Abstract

The invention discloses an ROS-based general control system for an automatic navigation robot. The system is composed of a core controller, a human-computer interaction interface, an image acquisitiondevice and a control terminal. The core controller consists of a Slam module, a navigation module, an upper computer drive module, and an upper computer communication module. The human-computer interaction interface includes a manipulation module, a Slam visualization module, a navigation monitoring module, an interactive interface communication module, and a warning module. In the control terminal, a lower computer communication module is used for realizing information communication with the core controller; and an image data acquisition module is connected with an image data communication module to realize information communication. According to the invention, the system is suitable for a path planning robot in an indoor environment; and the high-precision positioning and path planningfunctions of the existing ROS navigation packet are kept. The system also can be applied to a common control terminal on the market to realize the navigation function. Therefore, the ROS navigation packet can be applied to various mobile robot terminals perfectly, so that the compatibility of the ROS navigation packet is improved.

Description

technical field [0001] The invention relates to the field of robot intelligent navigation, and more specifically, relates to a general control system for automatic navigation robots based on ROS. Background technique [0002] Industrial robots are important automation equipment for modern manufacturing that integrates multidisciplinary advanced technologies such as machinery, electronics, control, computers, sensors, and artificial intelligence. The robot control system and its control terminal are important components of the robot. ROS (Robot Operating System) is a new robot control system that can provide operating system-like functions for heterogeneous computer clusters. Now with the expansion of the function package, the ROS system has been able to solve most problems in the field of robotics. Among them, the navigation function package is one of its most distinctive packages, which can realize precise positioning and path planning. However, due to the particularity ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0214G05D1/0223G05D1/0253G05D1/0276
Inventor 计时鸣郗枫飞蔡超鹏曹慧强石梦
Owner ZHEJIANG UNIV OF TECH
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