从仿真到现实的自主移动机器人开发框架
STR Robot: Design of an Autonomous Mobile Robot from Simulation to Reality
- 基于已有机械平台构建控制与导航系统
- 仿真验证后部署于真实机器人，实现自主定位与导航
- 适合机器人研发与仿真迁移研究者参考
随着仿真工具的快速发展，自主机器人系统的开发与验证在真实部署前变得更加高效。本文基于现有机械平台，实现了从仿真到现实的自主移动机器人系统开发。工作重点聚焦于机载控制、自定位与自主导航系统的构建，机器人配备机载感知与计算能力，可实时估计自身位姿并在环境中自主导航。整体框架首先在仿真中开发并测试，随后部署至真实机器人进行实验评估。结果表明该方法可行，仿真为构建可靠的自主移动机器人系统提供了有效基础。源代码将发布于 https://ntdathp.github.io/outdoor-robot-web。
原文摘要 · Abstract (English)
With the rapid development of simulation tools, the development and validation of autonomous robotic systems have become more efficient before real-world deployment. This paper presents a simulation-to-real implementation of an autonomous mobile robot based on an existing mechanical platform. Instead of focusing on mechanical design, our work concentrates on the development of the onboard control, self-localization, and autonomous navigation system. The proposed robot is equipped with onboard sensing and computation to estimate its pose and navigate autonomously in the environment. The overall framework is first developed and tested in simulation, and then deployed on the real robot for experimental evaluation. The results demonstrate the feasibility of the proposed approach and show that simulation provides an effective foundation for developing reliable autonomous mobile robot systems. The source code will be released at https://ntdathp.github.io/outdoor-robot-web.
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