兵工自动化2024，Vol.43Issue(6)：87-90,4.DOI:10.7690/bgzdh.2024.06.021
一种基于ROS的分布式安防巡逻机器人系统
A Distributed Security Patrol Robot System Based on ROS
摘要
Abstract
Aiming at the problem that the current security patrol robot system has a high requirement for the load capacity of the robot master controller,a distributed security patrol robot system based on robot operating system(ROS)is designed.The simultaneous Localization and mapping(SLAM)nodes and the vision recognition nodes are distributed in the robot host and the remote monitor in the local ROS network.On the SLAM side,the gmapping algorithm is used to realize the mapping in the dynamic environment and the localization of the robot;In the aspect of visual recognition,TensorFlow deep learning framework is used to recognize multiple objects in the scene by using TensorFlow Object Detection API.The results show that the system provides a reference for the design of ROS-based distributed security patrol robot system.关键词
安防巡逻机器人系统/ROS/分布式系统/SLAM/视觉识别Key words
security patrol robot system/ROS/distributed system/SLAM/vision recognition分类
信息技术与安全科学引用本文复制引用
丁林祥,陶卫军,黄潇..一种基于ROS的分布式安防巡逻机器人系统[J].兵工自动化,2024,43(6):87-90,4.基金项目
2021年度东南大学成贤学院青年教师科研发展基金项目(z0024) （z0024）
