基于机器人操作系统的室内运输自动导引车系统及其设计

针对当前室内运输自动导引车(AGV)导引技术存在灵活性差、开发成本高、路径维护烦琐等问题,设计并实现了一款基于开源机器人操作系统(robot operating system, ROS)的室内运输AGV系统。该系统包括硬件层和软件层两部分。在硬件层,综合考虑现实需求、性能、成本等因素后进行硬件选型,同时搭建了AGV底盘和单舵轮行走机构,为软件层提供了一个稳定、灵活的运行平台。软件层设计包括ROS规划端和网页人机交互端两部分。ROS规划端进行AGV地图构建、自主定位、路径规划、路径跟踪、自主导航五大功能模块设计;网页人机交互端实现远程人机交互功能。测试结果表明,基于ROS的室内运输AGV系统能够有效地完成室内自动化运输任务,且路径维护灵活简便,整个系统具有很强的可行性和实用价值。

Research and Design of Indoor Transportation AGV System Based on Robot Operating System

This study designs and implements an indoor transportation automated guided vehicle (AGV) system based on the open-source robot operating system (ROS) to solve the problems existing in the current indoor transportation AGV guidance technology, including poor flexibility, high development cost, and tedious path maintenance. The AGV system comprises two parts: the hardware and software layers. In the case of hardware layers, the hardware selection is performed after considering the actual requirements, performance, cost, and other factors. Simultaneously, the AGV chassis and single-steering wheel walking mechanism are built, providing a stable and flexible operating platform for the software layer. The software layer design includes two parts, namely the ROS planning end and human-computer interaction end of a web page. The ROS planning end performs the design of five functional modules (i.e., AGV map construction, autonomous positioning, path planning, path tracking, and autonomous navigation), whereas the human-computer interaction end of the web page realizes the remote human-computer interaction function. The test results show that the ROS-based indoor transportation AGV system can effectively complete the indoor automatic transportation tasks with flexible and simple path maintenance. In conclusion, the whole system has strong feasibility and practical value.