两轮自平衡机器人
两轮自平衡机器人
一种基于两轮赛格威(SEGWAY)自平衡滑板车的自动驾驶机器人。包括激光雷达(LiDAR)、摄像头、编码器和IMU的传感器与作为致动器的数字伺服一起实现。同时对该机器人的多个功能特征进行了测试，这些功能包括基于模糊逻辑和2D网格地图的避障、基于协同校准的数据融合、二维同时定位与地图构建(2D SLAM)、以及室内和室外不同场景下的路径规划。因此，机器人初步具备了对避开障碍物并同时构建2D网格地图进行自主探索的能力。基于机器人操作系统(ROS)和Gazebo，还测试并执行了除数据融合外具有相同功能的机器人仿真，作为机器人在真实世界中的简单比较。
An autonomous driving robot based on a two-wheel SEGWAY self-balancing scooter. Sensors including LiDAR, camera, encoder, and IMU were implemented together with digital servos as actuators. The robot was tested simultaneously with the functionality features including obstacle avoidance based on fuzzy logic and 2D grid map, data fusion based on co-calibration, 2D simultaneously localization and mapping (SLAM) and path planning under different scenarios both indoor and outdoor. As a result, the robot initially has the ability of self-exploration with avoiding obstacles and constructing 2D grid map simultaneously. A simulation of the robot with same functionalities except data fusion has also been tested and performed based on robot operating system (ROS) and Gazebo as the simple comparison of the robot in real world.
Dokumentinformationen
两轮自平衡机器人
2024-05-10
Patent
Elektronische Ressource
Chinesisch