基于ROS的移动机器人SLAM建图仿真设计.docx

Software Engineering and Applications 软件工程与应用, 2020, 9(4), 294-301 Published Online August 2020 in Hans. /journal/sea /10.12677/sea.2020.94033 A Mapping Simulation Design of Mobile Robot SLAM Based on ROS Wenlong Yu College of Electrical Engineering and Automation, Tiangong University, Tianjin Received: Aug. 3rd, 2020; accepted: Aug. 17th, 2020; published: Aug. 24th, 2020 Abstract SLAM mapping based on ROS robot operating system is the most mainstream method with the most research value and commercial value, which is favored by robot developers and enterprises. The main research content of this paper is to optimize the configuration of URDF simulation robot model, add Gazebo simulation environment label to it, and make it meet the requirements of Gmapping function package simulation experiment. The overall framework of Gmapping is ana- lyzed and the main parameters explained, and finally the mapping function of Gmapping is rea- lized. Experiments show that the Gazebo simulation environment designed in this paper can com- plete the task of Gmapping function package mapping, and Gmapping algorithm can complete the construction of raster map stably and quickly. Keywords SLAM, Gazebo, Gmapping Function Package, Simulation, Mapping 基于ROS的移动机器人SLAM建图仿真设计 于文龙 天津工业大学电气工程与自动化学院，天津 收稿日期：2020年8月3日；录用日期：2020年8月17日；发布日期：2020年8月24日 摘 要 基于ROS机器人操作系统的SLAM建图方法作为目前最主流、最具研究价值、商业价值的方法深受广大机器人开发者和企业青睐。本文主要研究内容为对URDF建模的仿真机器人模型进行优化配置，为其添加 文章引用: 于文龙. 基于ROS 的移动机器人 SLAM 建图仿真设计[J]. 软件工程与应用, 2020, 9(4): 294-301. D OI: 10.12677/sea.2020.94033 于文龙 于文龙 于文龙 于文龙 软件工程与应用D OI: 10.12677/sea.2020.94033 软件工程与应用 D OI: 10.12677/sea.2020.94033 PAGE 295 软件工程与应用D OI: 10.12677/sea.2020.94033 软件工程与应用 D OI: 10.12677/sea.2020.94033 PAGE 296 Gazebo仿真环境标签，使其满足Gmapping功能包仿真实验要求；分析Gmapping功能包的整体框架并对主要参数进行说明，最终实现Gmapping功能包的建图功能。实验表明本文所设计的Gazebo仿真环境能够完成Gmapping功能包建图任务，Gmapping算法可以稳定快速地完成栅格地图构建。 关键词 SLAM，Gazebo，Gmapping功能包，仿真，建图 Copyright ? 2020 by author(s) and Hans Publishers Inc. This work is licensed un