Research on Navigation and Positioning of Intelligent Service Robot in High-speed Railway Station Based on ROS System
Guiping Lu, Mingzhuo Deng, Kejun Wang, Fanrong Chen, Shan Lu, Xin Li · 2023
High-speed train stations are getting bigger as social railways develop further. The chance of missing the departure time increases as a result of the lengthier search times for destination platforms. This work seeks to study and construct an intelligent service robot for high-speed railway stations in order to overcome this problem. The robot focuses on map creation, indoor location, and map-based navigation. This study uses laser SLAM as the research object and applies the Gmapping mapping algorithm to indoor localization and map generation. By combining data from the IMU and odometer, it also makes use of expanded Kalman filtering localisation. The Dijkstra global path planning algorithm is researched and used as the navigation algorithm. The designed robot uses a differential driving mode and is built on the ROS system. For SLAM and navigational purposes, it integrates a number of sensors, including Lidar, IMU, and odometer. Voice technology from iFlytek is also used.