基于ROS的图书管理移动机器人的系统设计与实验研究

System Design and Experimental Research of Mobile Robot for Library Management Based on Robot Operating System

中文关键词: 机器人操作系统  图书存取  自主导航

英文关键词: robot operating system (ROS)  book access  autonomous navigation

中文摘要:

      文中设计了一种基于机器人操作系统（Robot Operating System, ROS）的图书管理移动机器人，旨在减轻图书管理工作压力并提升读者体验。该机器人能扫描归还书籍，存入自带书架，并自主导航至相应书箱，由工作人员完成上架、简单分类与运输。介绍了机器人机械系统设计，并通过有限元分析对尺寸进行了优化。机器人控制系统硬件和程序设计采用差速算法、运动模型算法和动态窗口算法。对该机器人进行的实景实验结果表明，该机器人能够有效地完成图书的自动存取和导航任务，显著提高了图书管理的效率。

英文摘要:

      A mobile robot for library management based on robot operating system (ROS) is designed in this paper, aiming at alleviating the pressure of library management and enhancing the readers’experience. This robot can scan returned books, store them on its built-in shelf and autonomously navigate to the corresponding book bins, where the staff complete the shelving, simple classification and transportation. The mechanical system design of the robot is introduced and the dimensions are optimized through finite element analysis first. The hardware and program design of the robot’s control system adopts differential algorithms, motion model algorithms and dynamic window algorithms. The results of real-world experiments show that the robot can effectively complete the tasks of automatic book retrieval and navigation, which has significantly improved the efficiency of library management.