Design And Implementation Of ROS-based Indoor Service Robot Control System

Since the 1980 s,with the continuous development of new technologies such as electronics,sensors,computers and the integration of information technology and industrialization,the robot industry has developed rapidly in the high technology industry.The application of robotics technology has rapidly expanded from traditional fields such as manufacturing to education,entertainment,family,medical care,rescue,field exploration and military fields.In this paper,an indoor service robot based on ROS(Robot Operating System,Robot Operating System)is designed under the background of voice explanation and voice navigation.The ROS,SLAM(Simultaneous Localization and Mapping)algorithm and navigation algorithm are studied.The 2D laser radar indoor SLAM system is designed based on ROS.The map of robot working environment is built using SLAM algorithm based on particle filter,and the problems in the actual mapping process are solved by labeling grid map manually.Based on the navigation framework of ROS,the navigation function of the robot is realized by using A-star algorithm and DWA algorithm.According to the functional requirements of the exhibition hall,the hardware structure of the robot is designed.The serial communication protocol between the upper computer and the functional module conforming to the ROS standard is established.The Arduino development board is used to control the robot movement.The online voice technology is used to realize the robot.The voice interaction function enables the robot to use Chinese to interact with the voice of the visitor,and to understand the voice command to lead the visitor to the exhibition hall and explain at each booth.Finally,a series of tests and experiments on the indoor service robot control system designed in this paper verify the rationality and effectiveness of each function and meet the design requirements.