移动机器人自主导航系统及上位机软件设计与实现

Design and Implementation of Host Computer Software forMobile Robot Autonomous Navigation Systems

摘要:

针对移动机器人自主导航系统,采用C++语言设计了一款基于Qt的跨平台实时数据可视化上位机软件。该软件执行SLAM技术和路径规划算法,实现可视化移动机器人建图与导航过程以及实时读取数据参数等功能。首先介绍移动机器人的硬件结构和功能。其次给出了自主导航所运用到的改进RRT*算法和动态窗口法。在详细叙述上位机软件工作流程的基础上,开发和设计了实时话题显示、读取以及界面可视化等功能。最后基于ROS系统完成移动机器人自主导航功能,并通过实时地图与数据可视化来验证所设计上位机软件功能的有效性。

Abstract:

This paper designs a cross-platform real-time data visualization software based on Qt for autonomous navigation systems of mobile robot by using C++ language. The software implements SLAM technology and path planning algorithm to realize visualization of mapping, navigation process of mobile robot and real-time data parameter reading. Firstly, we introduce the hardware structure and function of mobile robot. Secondly, the improved RRT* algorithm and dynamic window method used in autonomous navigation are given. Based on the detailed description of the work flow of the host software, the functions of real-time topic display, reading and interface visualization are developed. Finally, the mobile robot autonomous navigation function is completed under ROS system, and the validity of the function of designed host software is verified through real-time map and data visualization.