Journal of Huazhong University of Science and Technology(Natural Science Edition). 2013, (S1) Core

Localization and navigation for indoor mobile robot on embedded systemChinese Full Text

Hu Chunxu;Xiong Xiao;Ren Wei;He Dingxin;College of Automation,Huazhong University of Science and Technology;

Abstract: The open source robot operating system（ROS）was ported to the embedded system kernel based on a new hybrid real-time mobile robot platform,to design a low-cost and high-performance indoor mobile robot localization and navigation program.The indoor mobile robot took a full scan of the environment,collecting 3Dpoint cloud information with a microsoft Kinect sensor and transferring data to field programmable gate array（FPGA）for acceleration of complex computing and interface display.This data was then wirelessly sent to a computer through the distributed node of ROS.The computer worked on simultaneous localization and mapping while sending motion commands to control the robot′s movements.Simulation and experimental results demonstrate the flexibility and efficiency of this program.

Keywords：

mobile robot; embedded system; ROS; simultaneous localization and mapping（SLAM）; localization; navigation;

DOI：
10.13245/j.hust.2013.s1.067
Series：
(C) Architecture/ Energy/ Traffic/ Electromechanics, etc; (I) Electronic Technology ＆ Information Science
Subject：
Automation Technology
Classification Code：
TP242

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Localization and navigation for indoor mobile robot on embedded systemChinese Full Text

Hu Chunxu;Xiong Xiao;Ren Wei;He Dingxin;College of Automation,Huazhong University of Science and Technology;

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