开源四足机器人Squeaky助力多机器人协同定位与地图构建
Additively Manufactured Open-Source Quadruped Robots for Multi-Robot SLAM Applications
- 基于低成本设计，支持硬件软件灵活改装
- 实现多机共享网络下的地图融合，提升环境建模效率
- 适合机器人学、强化学习与计算机视觉研究者使用
本文介绍了四足机器人Squeaky的设计与开发，旨在作为单机与多机器人SLAM、计算机视觉及强化学习的研究与教学平台。在多机器人应用中，随着机群规模扩大，成本呈指数增长，因此低成本机器人变得尤为必要。SLAM对于机器人在洞穴勘探、灾害救援和远程巡检等场景中感知与定位至关重要。为提高效率，可采用多机协作进行地图融合，实现多机器人SLAM。Squeaky是一款低成本四足机器人，具备易改装的软硬件架构，可在共享网络下实现多机地图合并，且全部资源开源，供科研社区免费使用。
原文摘要 · Abstract (English)
This work presents the design and development of the quadruped robot Squeaky to be used as a research and learning platform for single and multi-SLAM robotics, computer vision, and reinforcement learning. Affordable robots are becoming necessary when expanding from single to multi-robot applications, as the cost can increase exponentially as fleet size increases. SLAM is essential for a robot to perceive and localize within its environment to perform applications such as cave exploration, disaster assistance, and remote inspection. For improved efficiency, a fleet of robots can be employed to combine maps for multi-robot SLAM. Squeaky is an affordable quadrupedal robot, designed to have easily adaptable hardware and software, capable of creating a merged map under a shared network from multiple robots, and available open-source for the benefit of the research community.
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