Multi-wheel drive binocular exploration robot based on ROS system

Xinyu Qiu; Zhiming Xu; RuoBing Duan; Shaojing Zhang; Zhuoling Zheng; Weichuan Ni

doi:10.1117/12.2640165

9 May 2022 Multi-wheel drive binocular exploration robot based on ROS system

Xinyu Qiu, Zhiming Xu, RuoBing Duan, Shaojing Zhang, Zhuoling Zheng, Weichuan Ni

Proceedings Volume 12252, International Conference on Biometrics, Microelectronic Sensors, and Artificial Intelligence (BMSAI); 122520J (2022) https://doi.org/10.1117/12.2640165
Event: International Conference on Biometrics, Microelectronic Sensors, and Artificial Intelligence (BMSAI), 2022, Guangzhou, China

Abstract

Aiming at the problems of poor adaptability and insufficient functions of existing exploration robots in different caves and dangerous areas, this paper proposes a multi-wheel drive binocular exploration robot based on ROS system, which uses laser radar sensor and binocular depth vision camera to collect environmental data. The Gmapping algorithm is used to realize the real-time positioning and accurate map building of the robot system. The CCD vision camera collects the data of the exploration area in real time, and transmits the data to the host computer for analysis and processing. Through the ROS open source system, it is convenient to control the robot and receive the mapping data, navigation data and exploration data of the robot system on the upper computer. Through experiments,Compared with the existing exploration system, the system has the characteristics of low hardware cost, easy mastery, easy modification, strong function expandability and the like; This project has a very high application value in the exploration of caves and dangerous areas.

Citation Download Citation

Xinyu Qiu, Zhiming Xu, RuoBing Duan, Shaojing Zhang, Zhuoling Zheng, and Weichuan Ni "Multi-wheel drive binocular exploration robot based on ROS system", Proc. SPIE 12252, International Conference on Biometrics, Microelectronic Sensors, and Artificial Intelligence (BMSAI), 122520J (9 May 2022); https://doi.org/10.1117/12.2640165

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KEYWORDS

Navigation systems

LIDAR

Control systems

Mobile robots

Sensors

Computing systems

Robotic systems

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