Slam and Navigation of Electric Power Intelligent Inspection Robot based on ROS

摘要

Aiming at the problems of high development cost and poor maintenance of electric inspection robot, a control system scheme of inspection robot based on the robot operating system (ROS) was proposed. Based on the concept of hierarchical control, the control system of the inspection robot is divided into user layer, decision layer and executive layer, each layer has a clear function, low coupling and strong expansibility. The user layer is mainly used to receive the user's application instructions and play the role of human-computer interaction. The decision layer mainly undertakes the core budget of robot positioning and navigation, path planning, etc., which is realized by an industrial control computer and ROS. The executive layer based on STM32 mainly functions as the motion controller of the robot and executes the control instructions sent by the decision layer to control the robot movement. The test results show that the control system has the advantages of accurate drawing and positioning, low cost, and can meet the engineering requirements.