基于视觉SLAM的自主移动机器人设计.pdfVIP

机械工程师

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基于视觉SLAM的自主移动机器人设计

黄广伟，陈梦婷，廖伟涛

（东莞城市学院智能制造学院，广东东莞523419）

摘要：

为了实现移动机器人在未知环境下快速自主定位与建图（SLAM），以及精准的路径规划与避障等功能。文中以

Jetsonnano作为主控，SMT32作为下位机，以深度相机RGB-D、高精度惯性测量传感器IMU、激光雷达等为传感器搭建

自主移动机器人的硬件系统；控制系统以ROS系统为软件基础，提出了一种“RGB-D+IMU+激光雷达”多传感融合SLAM策

略，运用ORB-SLAM3算法实现快速实时定位与建图（SLAM），采用Dijkstra算法为全局路线规划算法、DWA算法为局部

路线规划算法实现路径规划和避障。最后在现实环境进行实验，从实验结果来看，达到了预期效果。

关键词：

视觉SLAM；自主移动机器人；设计

中图分类号:TP242文献标志码:粤文章编号：员园园圆原圆猿猿猿（圆园23）12原园015原园4

DesignofAutonomousMobileRobotsSystemBasedonVisualSlam

HUANGGuangwei,CHENMengting,LIAOWeitao

(CollegeofIntelligentManufacturing,DongguanCityUniversity,Dongguan523419,China)

Abstract:InordertorealizethefunctionsofrapidAutonomousSimultaneousLocalizationandMapping(SLAM),accurate

pathplanningandobstacleavoidanceofmobilerobotsinunknownenvironments,thispaperusesJetsonnanoasthemain

control,SMT32asthelowercomputer,andusesthedepthcameraRGB-D,inertialnavigationsensorIMU,laserradarand

othersensorstobuildthehardwaresystemoftheautonomousmobilerobotsThecontrolsys