Open AccessDesign of Ackerman Mobile Robot System Based on ROS and Lidar
Author(s) -
Mingze Dong,
Donghong Chen,
Nan Ye,
Xiai Chen
Publication year - 2021
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1838/1/012073
Subject(s) - stm32 , computer science , mobile robot , robot , microcontroller , simultaneous localization and mapping , inertial measurement unit , lidar , feature (linguistics) , controller (irrigation) , artificial intelligence , position (finance) , real time computing , computer vision , embedded system , geography , remote sensing , telecommunications , chip , linguistics , philosophy , finance , agronomy , economics , biology
An ackerman mobile robot system based on ROS and lidar was developed in this research. The i5 industrial control computer was taken as the core controller, and the Ubuntu system was installed inside, the control core of the driving part was the STM32 microcontroller. Using the external environment information obtained by lidar and IMU sensors, the corresponding SLAM algorithm was developed and designed under the Linux system based on the distributed framework of ROS operating system. Through establishing the feature map of environment, the system can locate position and posture of vehicle body in real time, and generate optimal path according to the given target point automatically identify and avoid surrounding obstacles. According to the state of the robot and the commands of the user, it can realize the functions of human-computer interaction, SLAM map scanning and drawing, Wi-fi remote control, real-time positioning, autonomous navigation, etc. efficiently and quickly.