Dangerous exploration robot based on ROS system

Xinyu Qiu; Zhiming Xu; Shaojiang Liu

doi:10.1117/12.2645680

23 November 2022 Dangerous exploration robot based on ROS system

Xinyu Qiu, Zhiming Xu, Shaojiang Liu

Proceedings Volume 12302, Seventh International Conference on Electromechanical Control Technology and Transportation (ICECTT 2022); 123024O (2022) https://doi.org/10.1117/12.2645680
Event: Seventh International Conference on Electromechanical Control Technology and Transportation (ICECTT 2022), 2022, Guangzhou, China

Abstract

Based on the exploration or rescue needs of complex areas such as mines and caves, in view of the problems of narrow information detection range, short detection distance, single function, and no obstacle-crossing ability of existing detection robots, an exploration and rescue robot based on ROS system is designed. The surrounding environment information is obtained by 2D lidar, the attitude and acceleration information of the robot is obtained by the attitude sensor (IMU), the autonomous positioning and mapping of the robot is realized by the Gmapping algorithm, and the motor speed is calculated by the path planning algorithm to control the movement of the robot. The test results show that the robot has good motion performance, small size, light weight, strong obstacle-surmounting ability, and strong scalability. It provides first-hand information for the decision-making of the ground command center, and has certain value in the exploration of danger.

Citation Download Citation

Xinyu Qiu, Zhiming Xu, and Shaojiang Liu "Dangerous exploration robot based on ROS system", Proc. SPIE 12302, Seventh International Conference on Electromechanical Control Technology and Transportation (ICECTT 2022), 123024O (23 November 2022); https://doi.org/10.1117/12.2645680

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available