| With the development of science and technology,the demand for automation and information technology is increasing.The goal is to increase productivity so that people can work more efficiently,intelligent logistics vehicles emerge at the historic moment.This design is based on ROS system to realize an intelligent logistics vehicle with autonomous navigation function.The main research contents of this paper are as follows:(1)On the basis of combining the on-site requirements and the handling methods and characteristics of the intelligent vehicle,appropriate equipment is selected to build the ROS system,so as to meet the needs of each module of the intelligent vehicle.The hardware modules of the intelligent vehicle are designed,selected and built,and the communication between the modules is realized based on rosserial protocol.(2)Complete the construction of indoor intelligent vehicle map.gmapping,hector and cartographer algorithms in SLAM algorithm were respectively used to construct maps for intelligent vehicles.In the same indoor environment,the CPU usage and memory usage are used as the reference of the three algorithms and their respective mapping effects.(3)The positioning of intelligent vehicle is a feedback of its own position in the process of movement.To be more specific,positioning is to make the intelligent vehicle obtain the current position and pose information by transforming and processing the input information.The income information includes environmental map information,sensor observation value and current estimation of logistics parking pose.This design uses adaptive Monte Carlo positioning to realize the positioning module of intelligent logistics vehicle.(4)Finally completed the indoor intelligent car navigation function.On the basis of the mapping results of the above algorithm,the cost navigation map is generated through the cost rules.Two points are selected in the map and Dijkstra algorithm and A* algorithm are respectively used to complete the path planning experiment of intelligent vehicle between the two points.Finally,the error test of the intelligent car is carried out.By comparing the experimental results,it is concluded that the intelligent car can meet the needs of field use. |
