Design And Implementation Of Simulation Platform For Wheeled Mobile Robot Based On ROS

The role of educational robot projects in the reform of "new engineering" engineering education is very significant.One of the main roles of robots in teaching is to use robots as a programming simulation platform.At present,mobile robots that use the open source robot operating system ROS have been rapidly developed and applied in various industries.Mobile robots have unique advantages in training computational thinking,problem solving,and intelligent perception and planning.This paper designs and develops a simulation platform for wheeled mobile robot based on ROS,and generates its specific physical performance through online experiments.The main research contents are as follows:(1)Overall framework design of simulation platform.According to the analysis of the functional requirements of the current robot simulation platform for experimental teaching,the overall design scheme of the simulation platform based on ROS system is proposed.The main functions of this solution include modeling and simulation,cross-platform remote monitoring,and semi-physical simulation.(2)Build simulation model based on ROS-Gazebo.Aiming at the problems of high robot cost and limited experimental resources,this paper uses the ROS-Gazebo simulation system to realize the model simulation function.Modeling and kinematic analysis of a typical differential drive wheeled robot.Use the XACRO description file to build the robot model,including the chassis structure model,motion control interface,and sensor model.The robot line-tracking experiment is designed to verify the function of the simulation model.(3)Build a remote monitoring platform based on HTML5.A communication link based on Rosbridge is designed to realize the conversion between ROS messages and JSON messages.Based on HTML5 technology,a monitoring platform interface was built.Using the robot Web Tools project open source client interface,keyboard remote control,image display,navigation monitoring,parameter modification and other functional modules were developed to achieve cross-platform remote monitoring of robots.Design map construction experiments to verify the cross-platform remote monitoring function.(4)Experimental design and overall function verification.A navigation experiment based on Turtlebot3 robot is designed for the course of "Robotology" for undergraduates.A path planning algorithm optimized for A * and TEB is proposed as a navigation planning module,and a library of planning algorithms is encapsulated and integrated.Use the simulation platform built in this article to assist the development of the experimental content and display the experimental results.The simulation platform built in this paper realizes modular development,which is convenient for subsequent function maintenance and expansion;the development environment based on ROS improves the code reusability,so it is also suitable for other types of robots that support ROS.