论文标题
Nightowl：轮式服务机器人的机器人平台
NightOwl: Robotic Platform for Wheeled Service Robot
论文作者
论文摘要
Nightowl是一个专门为轮式服务机器人设计的机器人平台。机器人在全向时尚运动中自动导航，并配备LIDAR，以感知周围区域。该平台本身是使用机器人操作系统（ROS）构建的，并用两种不同的编程语言（C ++和Python）构建。 NightOwl由几个模块化程序组成，即硬件控制器，光检测和范围（LIDAR），同时定位和映射（SLAM），世界模型，路径计划，机器人控制，通信，交流和行为。这些程序并行运行并相互交流以共享各种信息。本文解释了模块化程序在输入，过程和输出方面的作用。此外，NightOwl提供了在凉亭和RVIZ中可视化的模拟。凉亭可以看到其环境中的机器人。来自LiDAR的传感器数据和SLAM的结果将由RVIZ可视化。
NightOwl is a robotic platform designed exclusively for a wheeled service robot. The robot navigates autonomously in omnidirectional fashion movement and equipped with LIDAR to sense the surrounding area. The platform itself was built using the Robot Operating System (ROS) and written in two different programming languages (C++ and Python). NightOwl is composed of several modular programs, namely hardware controller, light detection and ranging (LIDAR), simultaneous localization and mapping (SLAM), world model, path planning, robot control, communication, and behaviour. The programs run in parallel and communicate reciprocally to share various information. This paper explains the role of modular programs in the term of input, process, and output. In addition, NightOwl provides simulation visualized in both Gazebo and RViz. The robot in its environment is visualized by Gazebo. Sensor data from LIDAR and results from SLAM will be visualized by RViz.
