Multi-wheel drive binocular exploration robot based on ROS system
Xinyu Qiu, Zhiming Xu, Ruobing Duan, Shaojing Zhang, Zhuoling Zheng, Weichuan Ni · 2022
Aiming at the problems of poor adaptability and insufficient functions of existing exploration robots in different caves and dangerous areas, this paper proposes a multi-wheel drive binocular exploration robot based on ROS system, which uses laser radar sensor and binocular depth vision camera to collect environmental data. The Gmapping algorithm is used to realize the real-time positioning and accurate map building of the robot system. The CCD vision camera collects the data of the exploration area in real time, and transmits the data to the host computer for analysis and processing. Through the ROS open source system, it is convenient to control the robot and receive the mapping data, navigation data and exploration data of the robot system on the upper computer. Through experiments,Compared with the existing exploration system, the system has the characteristics of low hardware cost, easy mastery, easy modification, strong function expandability and the like; This project has a very high application value in the exploration of caves and dangerous areas.