The invention relates to an automatic driving robot based on a two-wheeled Sagging self-balancing scooter. A sensor including a lidar (LiDAR), a camera, an encoder, and an IMU is implemented with a digital servo as an actuator. A plurality of functional characteristics of the robot are tested at the same time, and the functions comprise obstacle avoidance based on fuzzy logic and a 2D grid map, data fusion based on collaborative calibration, two-dimensional simultaneous localization and mapping (2D SLAM) and path planning in different indoor and outdoor scenes. Therefore, the robot preliminarily has the ability to avoid obstacles and construct the 2D grid map for autonomous exploration. Based on a robot operating system (ROS) and Gazebo, robot simulation with the same function except for data fusion is tested and executed as a simple comparison of the robot in the real world.
一种基于两轮赛格威(SEGWAY)自平衡滑板车的自动驾驶机器人。包括激光雷达(LiDAR)、摄像头、编码器和IMU的传感器与作为致动器的数字伺服一起实现。同时对该机器人的多个功能特征进行了测试,这些功能包括基于模糊逻辑和2D网格地图的避障、基于协同校准的数据融合、二维同时定位与地图构建(2D SLAM)、以及室内和室外不同场景下的路径规划。因此,机器人初步具备了对避开障碍物并同时构建2D网格地图进行自主探索的能力。基于机器人操作系统(ROS)和Gazebo,还测试并执行了除数据融合外具有相同功能的机器人仿真,作为机器人在真实世界中的简单比较。
Two-wheeled self-balancing robot
两轮自平衡机器人
2024-05-10
Patent
Elektronische Ressource
Chinesisch
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