Design And Implementation In Intelligent Avoidance Obstacle Robot Base On ROS And Depth Camera Kinect

Technology develop so fast in this twenty years,robotics technology has made rapid progress,and many countries in the world have included robotics technology in national development plans.Many robots have been integrated people's lives,such as automatic driving technology,sweeping robots,navigation robots,and so on.In these application robots,obstacle avoidance capability is the precondition and guarantee for all smart applications.In this paper,an advance smart obstacle avoidance robot is designed and implemented in combination with the depth camera Kinect and the robot operating system ROS(Robot Operating System).The specific research work is as follows:First,because ROS belongs to the open source distributed operating system,it avoids the problems of code duplication and compatibility in robot development,and it is also convenient for future development.In this thesis,ROS is selected as the obstacle avoidance robot operating system.The hole system can divide into three subsystems:laser radar mapping,Kinect camera obstacle recognition,navigation and path planning.Secondly,the Hokuyo-30LX laser radar is selected as the mapping sensor.The hardware structure and working principle of the laser radar are analyzed,and the mapping work in this project is completed.The RGB-D depth camera Kinect is selected as the main sensor for the robot sensing environment.The hardware structure,working principle,and point cloud of the depth data of the Kinect are analyzed,and the obstacle recognition on the ground and the pit identification on the ground are completed.Thirdly,in the navigation and path planning design,robot uses the self-adaptive Monte Carlo location method to position and orientation;Robot tests two different path planning algorithms in global path planning which is Dijkstra andA~*algorithm;Robot uses the DWA dynamic window method to avoid obstacles in the local path planning;All three method can help robot navigation from its own location to the destination and complete obstacle avoidance.Fourth,sets up the Turtlebot 2 experimental platform to integrate the three systems of cartography,identification,and navigation,sets up different obstacles in the same experimental scene,and successfully completed the task of navigation and obstacle avoidance.