Based on the exploration or rescue needs of complex areas such as mines and caves, in view of the problems of narrow information detection range, short detection distance, single function, and no obstacle-crossing ability of existing detection robots, an exploration and rescue robot based on ROS system is designed. The surrounding environment information is obtained by 2D lidar, the attitude and acceleration information of the robot is obtained by the attitude sensor (IMU), the autonomous positioning and mapping of the robot is realized by the Gmapping algorithm, and the motor speed is calculated by the path planning algorithm to control the movement of the robot. The test results show that the robot has good motion performance, small size, light weight, strong obstacle-surmounting ability, and strong scalability. It provides first-hand information for the decision-making of the ground command center, and has certain value in the exploration of danger.
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.
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