基于单目SLAM的机器人室内定位导航系统
Development of an indoor localization and navigation system based on monocular SLAM for mobile robots
- 采用单目SLAM提取环境特征，实现机器人位姿估计
- 结合A*与DWA算法，在2D栅格地图上完成路径规划
- 在Gazebo仿真中验证，适合移动机器人导航研究
定位与导航是移动机器人的重要问题。本文提出一种基于单目SLAM的差速驱动机器人定位与导航系统，部署于机器人操作系统（ROS）。硬件包含搭载Jetson Xavier AGX嵌入式平台的差速机器人、二维相机和激光雷达，用于采集外部环境信息。基于2D栅格地图，采用A*算法与动态窗口法（DWA）进行路径规划。使用ORB_SLAM3算法提取环境特征，为定位与导航提供机器人位姿。系统在Gazebo仿真环境中测试，并通过Rviz可视化，验证了其在室内环境下对移动机器人定位与导航的有效性与潜力。
原文摘要 · Abstract (English)
Localization and navigation are two crucial issues for mobile robots. In this paper, we propose an approach for localization and navigation systems for a differential-drive robot based on monocular SLAM. The system is implemented on the Robot Operating System (ROS). The hardware includes a differential-drive robot with an embedded computing platform (Jetson Xavier AGX), a 2D camera, and a LiDAR sensor for collecting external environmental information. The A* algorithm and Dynamic Window Approach (DWA) are used for path planning based on a 2D grid map. The ORB_SLAM3 algorithm is utilized to extract environmental features, providing the robot's pose for the localization and navigation processes. Finally, the system is tested in the Gazebo simulation environment and visualized through Rviz, demonstrating the efficiency and potential of the system for indoor localization and navigation of mobile robots.
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