医疗卫生装备2017，Vol.38Issue(2)：109-113,5.DOI:10.7687/J.ISSN1003-8868.2017.02.109
移动机器人SLAM与路径规划在ROS框架下的实现
SLAM and path planning of mobile robot in ROS framework
摘要
Abstract
Objective To realize SLAM and path planning of mobile robot to solve the problem of real-time data association in the process of moving and to update the computational complexity of the state covariance matrix.Methods The mathematical model of SLAM was built,and FastSlam algorithm based on particle filter,A* and dynamic window approach (DWA) were used to prepare gmapping function package in the ROS framework.Results The motion simulation,path planning and dynamic obstacle avoidance of mobile robot in the ROS framework were realized.Conclusion By using ROS platform,mobile robots can execute path planning efficiently while completing self-localization and map building.关键词
移动机器人/SLAM/路径规划/ROS/算法实现Key words
mobile robot/SLAM/path planning/ROS/algorithm implementation分类
医药卫生引用本文复制引用
陈卓,苏卫华,安慰宁,秦晓丽..移动机器人SLAM与路径规划在ROS框架下的实现[J].医疗卫生装备,2017,38(2):109-113,5.基金项目
原总后卫生部重点项目(BWS14C054) （BWS14C054）
军队后勤科研计划重大项目(AWS16J001) （AWS16J001）
天津科技支撑计划重点研发计划(16YFZCSF00590) （16YFZCSF00590）
