| 基于ROS的遥控水下机器人监控系统研制 |
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| 引用本文： | 唐鸿儒,奚家烽,沈天鹤,包加桐,刘其铭. 基于ROS的遥控水下机器人监控系统研制[J]. 南京气象学院学报, 2019, 11(2): 138-143 |
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| 作者姓名： | 唐鸿儒 奚家烽 沈天鹤 包加桐 刘其铭 |
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| 作者单位： | 扬州大学 水利与能源动力工程学院, 扬州, 225127,扬州大学 水利与能源动力工程学院, 扬州, 225127,扬州大学 水利与能源动力工程学院, 扬州, 225127,扬州大学 水利与能源动力工程学院, 扬州, 225127,扬州大学 水利与能源动力工程学院, 扬州, 225127 |
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| 基金项目： | 国家自然科学基金（61806175）；江苏省博士后基金（1601006C） |
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| 摘 要： | 为了降低水下机器人开发复杂度，增加机器人的适应性和开放性，基于ROS （机器人操作系统）研制了遥控水下机器人监控系统.首先简单介绍了遥控水下机器人监控系统的硬件结构，提出了基于ROS的遥控水下机器人监控系统软件框架，介绍了感知执行层、导航控制层和监视操作层的组成及作用，描述了运动控制节点、人机交互节点、姿态控制节点3个功能模块的设计方法.实验表明，基于ROS开发的水下机器人监控系统能很好地协调感知模块、运动控制模块和人机交互模块等各个节点的工作，具有开发周期短、扩展性较好等特点.
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| 关 键 词： | 监控系统 遥控水下机器人 系统架构 机器人操作系统(ROS) 传感与控制 |
| 收稿时间： | 2019-03-03 |
Research and development of a monitor system for underwater remote-operated vehicles based on ROS |
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| TANG Hongru,XI Jiafeng,SHEN Tianhe,BAO Jiatong and LIU Qiming. Research and development of a monitor system for underwater remote-operated vehicles based on ROS[J]. Journal of Nanjing Institute of Meteorology, 2019, 11(2): 138-143 |
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| Authors: | TANG Hongru XI Jiafeng SHEN Tianhe BAO Jiatong LIU Qiming |
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| Affiliation: | School of Hydraulic, Energy and Power Engineering, Yangzhou University, Yangzhou 225127,School of Hydraulic, Energy and Power Engineering, Yangzhou University, Yangzhou 225127,School of Hydraulic, Energy and Power Engineering, Yangzhou University, Yangzhou 225127,School of Hydraulic, Energy and Power Engineering, Yangzhou University, Yangzhou 225127 and School of Hydraulic, Energy and Power Engineering, Yangzhou University, Yangzhou 225127 |
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| Abstract: | To reduce the development complexity of underwater remote-operated vehicles and increase their adaptability and applications,a monitor system for underwater remote-operated vehicles based on ROS is developed.First,the hardware structure of the monitor system is introduced briefly.The software framework of the monitor system based on ROS is proposed.The compositions and functions of the perceptual execution,navigation control,and monitoring operation layers are introduced.The design of three functional modules,namely the motion control,human-robot interaction,and attitude control nodes,are described.Experiments show that the monitor system of the underwater remote-operated vehicle based on ROS can coordinate the work of each functional module.It is characterized by a short development cycle and good expansibility. |
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| Keywords: | monitor system underwater remote-operated vehicle system framework robot operating system sense and control |
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