机电工程技术2024，Vol.53Issue(4)：45-49,5.DOI:10.3969/j.issn.1009-9492.2024.04.010
基于激光SLAM多地形机器人的设计
Design of Multi-terrain Robot Based on Laser SLAM
摘要
Abstract
In order to solve the problem of traditional wheeled robots in complex terrains and the complexity of control strategies in legged robots,a multi-terrain robot is proposed.Combining the laser simultaneous localization and mapping(SLAM)method and the adaptive leg-wheel mechanism,a Raspberry Pi serves is used as the computational unit with robot operating system(ROS),the laser SLAM technology is used to realize the environment map construction and the robot navigation,while combining the depth model and the camera to complete the image task.By using the adaptive wheel leg mechanical structure,the robot to automatically switch to wheel and legged modes can be enabled according to the environmental requirements.The STM32F407 is used as underlying controller,and the accurate movement and mechanical arm operation of the robot can be realized through the PID algorithm.The results show that the multi-terrain robot control method is simple and efficient,showing the ability of flexible movement in complex terrain such as slope,grassland,pit and step obstacles,the maximum height of the obstacle can reach 250 mm and the climbing angle can reach 45°,which has significant advantages in stability and adaptability.关键词
自适应/即时定位与地图构建/多地形机器人/激光雷达/PIDKey words
adaptive/simultaneous localization and mapping(SLAM)/multi-terrain robot/lidar/PID分类
信息技术与安全科学引用本文复制引用
何冰,曾荣耀,庞文涛,王思童,张莹..基于激光SLAM多地形机器人的设计[J].机电工程技术,2024,53(4):45-49,5.基金项目
国家级大学生创新创业训练计划项目(22XK013) （22XK013）
