基于ROS的细胞机器人重构仿真

基于ROS机器人操作系统及其包含的功能包,对细胞机器人进行开发,利用细胞模块上的惯性测量元件、激光雷达与单目摄像头,确定自身位姿信息与周围环境信息,完成细胞机器人重构操作。在Gazebo仿真重构平台中,通过细胞机器人的重构验证了自定位、地图构建、路径规划、自主导航和视觉调姿算法,并完成不同种类细胞模块之间的重构和器官层面的重构,按照任务规划构型实现了细胞机器人的自组装,验证了重构方案的可行性。

Research on Self Reconstruction of Cellular Robots Based on ROS

Based on the ROS robot operating system and its included function package, this paper aims at the development of cell robot , and the inertial measurement elements, laser radar and the monocular camera on the cell module are used to determine the position and posture information and the surrounding environment information, and the cell robot reconstruction operation is completed. In reconstructing the Gazebo simulation reconfiguration platform, the algorithm of self positioning, map building, path planning, autonomous navigation and visual attitude adjustment are verified through the reconstruction of cell robot, and the reconstruction of different kinds of cell modules and the reconstruction of organ level are completed. The self-assembly of cell robots is realized according to the configuration of task planning. The reconfiguration scheme is feasible.