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Distributed cloud navigation system and method based on ROS2

A navigation system and distributed technology, applied in the field of robot navigation, can solve problems such as poor flexibility and limited application scenarios, and achieve the effects of ensuring confidentiality, system flexibility, and cost reduction

Inactive Publication Date: 2019-11-08
SHANDONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The inventor found that most traditional multi-machine mapping navigation systems can only provide data services for multiple robots of the same structure type and similar functions at the same time, which has poor flexibility and limited application scenarios

Method used

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  • Distributed cloud navigation system and method based on ROS2
  • Distributed cloud navigation system and method based on ROS2

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Embodiment Construction

[0034] The present disclosure will be further described below in conjunction with the accompanying drawings and embodiments.

[0035] It should be noted that the following detailed description is exemplary and intended to provide further explanation of the present disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.

[0036] It should be noted that the terminology used herein is only for describing specific embodiments, and is not intended to limit the exemplary embodiments according to the present disclosure. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and / or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and / or combinations thereof.

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Abstract

The invention provides a distributed cloud navigation system and method based on ROS2. The system comprises a bottom layer, global data space, a cloud server and a management layer, wherein the bottomlayer comprises at least one robot, a sensor module is mounted on each robot, and each sensor module is used for collecting environmental data and own motion state data of the corresponding robot; each robot and an interactive device thereof are taken as nodes respectively to form an ROS network; the global data space as a network layer is used for achieving intercommunication between each robotand the cloud server and receiving related data of topic publication or topic subscription issued by each node in the ROS network; the cloud server is configured to receive the environmental data andown motion state data which are uploaded by each robot, calculate control information of the corresponding robot and conduct positioning and route planning on the corresponding robot, so that the corresponding robot moves to reach a designated position; the management layer is configured to communicate with each node in the ROS network for monitoring a running state of the distributed cloud navigation system.

Description

technical field [0001] The disclosure belongs to the field of robot navigation, and in particular relates to a ROS2-based distributed cloud navigation system and navigation method. Background technique [0002] The statements in this section merely provide background information related to the present disclosure and do not necessarily constitute prior art. [0003] Autonomous mobile robot is a kind of robot with high self-planning, self-organization and self-adaptive ability, which is suitable for working in complex unstructured environment. Navigation technology is the core of autonomous mobile robot research, and it is also the key technology for mobile robots to realize intelligence and complete autonomy. An autonomous mobile robot can move safely and effectively only if it knows its own position, the position of obstacles in the workspace, and the movement of obstacles accurately. Therefore, the problem of self-localization of an autonomous mobile robot is particularly ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02G05B19/418
CPCG05B19/418G05B19/4183G05B19/41855G05B19/4186G05D1/0225G05D1/0248G05D1/0257G05D1/027G05D1/0272G05D1/0274G05D1/0287Y02P90/02
Inventor 周风余杨志勇万方边钧健庄文密于帮国顾潘龙
Owner SHANDONG UNIV
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