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Multi-target point autonomous navigation method based on Turtlebot2 robot map building

A technology of autonomous navigation and robotics, applied in the field of navigation, can solve problems such as the inability to realize multi-target point autonomous navigation

Inactive Publication Date: 2019-01-08
WUYI UNIV
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  • Summary
  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Traditional robots use maps to perform multi-point target navigation tasks. Users can only release a single target to the lower computer at a time, and cannot achieve autonomous navigation of multiple target points.

Method used

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  • Multi-target point autonomous navigation method based on Turtlebot2 robot map building

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Experimental program
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Embodiment Construction

[0024] refer to figure 1 , a multi-target point autonomous navigation method for building a map based on a Turtlebot2 robot, including the following steps:

[0025] S1. Build a map;

[0026] S2. Obtain multiple target location information;

[0027] S3. Obtain the initial pose of the robot;

[0028] S4, the navigation package in ROS drives the robot to move to any target position;

[0029] S5. The positioning package in ROS obtains the real-time pose of the current robot;

[0030] S6. The robot arrives at the target position, and the initial pose of the robot is updated to the currently reached target position and the current state of the robot;

[0031] S7. Go back to step S4 until the obtained multiple target positions are all reached.

[0032] Among them, the purpose of Turtlebot is to provide a basic development platform for entry-level robot enthusiasts or mobile robot programming developers, so that people can use the software and hardware that comes with Turtlebot t...

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PUM

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Abstract

The invention discloses a multi-target point autonomous navigation method based on Turtlebot2 robot map building. The method is characterized by comprising the following steps: building a map, acquiring information of multiple target locations, acquiring an initial pose of a robot, allowing a navigation packet in an ROS (robot operating system) to drive the robot to move to any target location, allowing a positioning packet in the ROS to acquire the current real-time robot pose, when the robot reaches the target location, updating the initial pose of the robot as a current target location anda current state of the robot, and returning to execute step S4 till the robot reaches all the target locations. By adopting the multi-target point autonomous navigation method based on the Turtlebot2robot map building provided by the invention, the Turtlebot2 robot to be capable of achieving multi-target point autonomous navigation, and improves intelligence of the robot.

Description

technical field [0001] The invention relates to the field of navigation, in particular to a multi-object point autonomous navigation method for building a map based on a Turtlebot2 robot. Background technique [0002] Autonomous mobility is an important research field of robotics. With the complexity of the application environment, human beings have put forward higher requirements for the autonomy and intelligence of mobile robots. In the field of service robots, mobile robots are required to autonomously operate in indoor environments. To complete tasks such as home services, elderly care, and scene monitoring, it is a very important process for mobile robots to achieve completely autonomous environmental observation and map construction through effective autonomous exploration strategies without user intervention. Traditional robots use maps to perform multi-point target navigation tasks. Users can only release a single target to the lower computer at a time, and cannot ac...

Claims

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Application Information

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IPC IPC(8): G01C21/20G01S17/93G01S17/89
CPCG01C21/206G01S17/89G01S17/93
Inventor 黄辉吴正邹安安
Owner WUYI UNIV
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