机电工程技术2025，Vol.54Issue(22)：45-49,98,6.DOI:10.3969/j.issn.1009-9492.2025.00011
基于Gmapping算法的室内自动导航代步车设计
Design of Indoor Automatic Navigation Scooter Based on Gmapping Algorithm
摘要
Abstract
Considering the large scale of the elderly and disabled population in China and their prominent travel obstacles,traditional manually operated mobility scooters are unable to effectively avoid obstacles.A new generation of indoor navigation intelligent mobility scooters is developed to solve their travel problems.The key to the indoor navigation of these vehicle lies in indoor positioning and mapping.By integrating the odometer data with the Lidar and IMU data,the spatial position and attitude are accurately determined.Based on the pose information combined with the Lidar detection data,a two-dimensional map is constructed using the SLAM Gmapping algorithm.Then,through the move_base package of the ROS system,path planning and indoor navigation are achieved.After testing,the new generation of intelligent mobility scooters shows significant advantages.The operation process is simplified;the driving route is no longer restricted by the user;the obstacle avoidance performance is excellent,and the safety factor is significantly improved.It provides great convenience for the travel of the elderly and disabled,effectively ensuring their safe travel.It is expected to play an important role in the lives of the target group,promoting their more autonomous and safe lives,and providing an effective solution to the travel obstacle problem of this group.关键词
SLAM Gmapping/智能代步车/室内导航/ROS/激光雷达Key words
SLAM Gmapping/intelligent scooter/indoor navigation/ROS/laser radar分类
信息技术与安全科学引用本文复制引用
张建民,邓明锋,曹梓涵,张宏涛,简嘉辉,郑名杜,陈飞文..基于Gmapping算法的室内自动导航代步车设计[J].机电工程技术,2025,54(22):45-49,98,6.基金项目
广东省大学生科技创新培育专项资金(pdjh2023b0532) （pdjh2023b0532）
广东省质量工程项目(GDJX-2024241626) （GDJX-2024241626）
2021年广东省教改项目(GDJX2021007) （GDJX2021007）
五邑大学大学生创新创业训练计划项目资助(S202311349063) （S202311349063）
五邑大学大学生创新创业训练计划项目资助(202311349251S) （202311349251S）
2024年校级教改项目(JX2024010) （JX2024010）
