现代电子技术2024，Vol.47Issue(18)：114-120,7.DOI:10.16652/j.issn.1004-373x.2024.18.019
基于ROS-Matlab的移动机器人仿真研究
Research on mobile robot simulation based on ROS-Matlab
摘要
Abstract
In combination of the high-performance simulation tool and cross-platform compatibility of ROS(robot system)system under Linux,and the powerful computing power,rich toolbox and function library of Matlab,the key technology of mobile robot is studied by establishing the simulation control system of ROS-Matlab.The framework and function of ROS-Matlab system are introduced.Gazebo is used to build a 2D simulation indoor environment,and Solidworks is used to create a mobile robot model,which is imported into ROS environment in the form of URDF file.SLAM_gmapping algorithm is used to scan and map the simulated indoor environment,and the Simulink is used to publish coordinates and navigation topics of target points to control the mobile robot to complete navigation tasks.Simulink is used to publish the trajectory tracking topic and control the mobile robot for trajectory tracking.After the simulation verification,the feasibility of the simulation system is proved by the built map,target point navigation and trajectory tracking curve,which provides a reference for robot research.关键词
ROS/Matlab/移动机器人/Gazebo/SLAM/目标点导航/轨迹跟踪/运动学模型Key words
ROS/Matlab/mobile robot/Gazebo/SLAM/target point navigation/trajectory tracking/kinematic model分类
信息技术与安全科学引用本文复制引用
张涛,齐向东,张海龙,普勇博..基于ROS-Matlab的移动机器人仿真研究[J].现代电子技术,2024,47(18):114-120,7.基金项目
山西省科技创新人才团队专项资助项目(202304051001030) （202304051001030）
