Developing an integrated software environment for mobile robot navigation and control
Developing an integrated software environment for mobile robot navigation and control
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DOI：
10.1109/ipin.2010.5647506
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发表时间：
2010-11
期刊：
影响因子：
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通讯作者：
Z. Tuza;J. Rudan;G. Szederkényi
中科院分区：
文献类型：
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作者：
Z. Tuza;J. Rudan;G. Szederkényi
本文介绍了一种基于流行的MRPT工具包的柔性模块化机器人软件环境，该环境能够很容易地从多个来源集成路径规划、导航和控制算法。不同的模块(负责SLAM、轨迹跟踪、传感器和执行器处理、可视化等)通过精心开发的基于网络的协议集相互通信，该协议集确保透明度和健壮的操作。该系统还可以作为仿真环境，能够对不同的导航算法进行比较基准测试。以自主轮椅基于激光扫描仪的地图构建和导航为应用实例，说明了所开发的软件环境的特点。
A flexible modular robotic software environment based on the popular MRPT toolkit is reported in this paper that is able to integrate path planning, navigation and control algorithms easily from several sources. The different modules (which are responsible for SLAM, trajectory tracking, sensor and actuator handling, visualization etc.) communicate with each other via a carefully developed network based protocol set that ensures transparency and robust operation. The system can also be used as a simulation environment and it is capable of comparative benchmarking of different navigation algorithms. Laser scanner based map building and navigation of an autonomous wheelchair is shown as application examples to illustrate the features of the developed software environment.