Paper
23 November 2022 Dangerous exploration robot based on ROS system
Author Affiliations +
Proceedings Volume 12302, Seventh International Conference on Electromechanical Control Technology and Transportation (ICECTT 2022); 123024O (2022) https://doi.org/10.1117/12.2645680
Event: Seventh International Conference on Electromechanical Control Technology and Transportation (ICECTT 2022), 2022, Guangzhou, China
Abstract
Based on the exploration or rescue needs of complex areas such as mines and caves, in view of the problems of narrow information detection range, short detection distance, single function, and no obstacle-crossing ability of existing detection robots, an exploration and rescue robot based on ROS system is designed. The surrounding environment information is obtained by 2D lidar, the attitude and acceleration information of the robot is obtained by the attitude sensor (IMU), the autonomous positioning and mapping of the robot is realized by the Gmapping algorithm, and the motor speed is calculated by the path planning algorithm to control the movement of the robot. The test results show that the robot has good motion performance, small size, light weight, strong obstacle-surmounting ability, and strong scalability. It provides first-hand information for the decision-making of the ground command center, and has certain value in the exploration of danger.
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Xinyu Qiu, Zhiming Xu, and Shaojiang Liu "Dangerous exploration robot based on ROS system", Proc. SPIE 12302, Seventh International Conference on Electromechanical Control Technology and Transportation (ICECTT 2022), 123024O (23 November 2022); https://doi.org/10.1117/12.2645680
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KEYWORDS
Associative arrays

LIDAR

Control systems

Navigation systems

Sensors

Computing systems

Human-machine interfaces

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