东华大学学报（英文版）2025，Vol.42Issue(3)：315-329,15.DOI:10.19884/j.1672-5220.202405007
ROSGPT:基于大语言模型的机器人自然语言导航系统
ROSGPT:Natural Language Control of Mobile Robots Navigation via Large Language Model
摘要
Abstract
The objective of this work is to develop an innovative system(ROSGPT)that merges large language models(LLMs)with the robot operating system(ROS),facilitating natural language voice control of mobile robots.This integration aims to bridge the gap between human-robot interaction(HRI)and artificial intelligence(AI).ROSGPT integrates several subsystems,including speech recognition,prompt engineering,LLM and ROS,enabling seamless control of robots through human voice or text commands.The LLM component is optimized,with its performance refined from the open-source Llama2 model through fine-tuning and quantization procedures.Through extensive experiments conducted in both real-world and virtual environments,ROSGPT demonstrates its efficacy in meeting user requirements and delivering user-friendly interactive experiences.The system demonstrates versatility and adaptability through its ability to comprehend diverse user commands and execute corresponding tasks with precision and reliability,thereby showcasing its potential for various practical applications in robotics and AI.The demonstration video can be viewed at https://iklxo6z9yv.feishu.cn/docx/Lux3dmTDxoZ5YnxWJTZcxUCWnTh.关键词
Llama2模型/大语言模型/自动语音识别/人机交互/机器人操作系统/Habitat仿真器Key words
Llama2 model/large language model(LLM)/automatic speech recognition(ASR)/human-robot interaction(HRI)/robot operating system(ROS)/Habitat simulator分类
信息技术与安全科学引用本文复制引用
黄家淬,赵鸣博,张洪涛..ROSGPT:基于大语言模型的机器人自然语言导航系统[J].东华大学学报（英文版）,2025,42(3):315-329,15.基金项目
National Natural Science Foundation of China(No.61601112) （No.61601112）
