Indoor intelligent patrol robot based on ROS architecture

• Published in: 2017 2nd International Conference on Advanced Robotics and Mechatronics (ICARM) pp. 294 - 298
• Main Authors: Zhihua He, Lei Cheng, Wenlei Zheng, Mengxia Sun, Qiuyue Yu
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.08.2017
• Subjects: autonomous navigation; Communication architecture; Computer architecture; File systems; intelligent patrol robot; Navigation; Organizations; particle filter; Particle filters; Robot sensing systems
• DOI: 10.1109/ICARM.2017.8273177

In the robot development, different robot developers have to realize their specific software architecture and hardware implementation, which leads to the complexity of the system that different developers design is not the same, different architecture can make a big difference. If developers want has other functions on the basis of the original robot, it is difficult to achieve rapid transfer of software, and in the design of the system, need to do more cumbersome, repetitive work module etc. This makes the development cycle may be very long. ROS provides a similar combination of Observer mode and Mediator mode communication architecture, which can meet most scene of the robots use, and ROS has a fairly large node code base, the use of ROS can greatly reduce the workload of the robot system design, reduce duplication developers, improve code reuse rate. In this article, the paper introduces the algorithm of particle filter, and then puts forward a design method of indoor intelligent patrol robot based on ROS communication architecture. By using the navigation function package of ROS, the autonomous navigation of indoor intelligent patrol robot can be realized, and the navigation process can be carried out with escaping obstacles in time, intelligence is very obvious in the progress. Experiments show that this method is fast and efficient, and it is a very efficient indoor intelligent patrol robot design method.