Author(s)

Jinhui Xu ¹, Shuang Zhen ¹, Yuanjia Ma ¹

Affiliation(s)

¹ Electronic Information Engineering Department, Guangdong University of Petrochemical Technology, Maoming, Guangdong, China

Corresponding Author

Yuanjia Ma

ABSTRACT

In order to solve the problems of inspection safety and inspection efficiency in oil factory area, this paper introduced an inspection robot based on Robot Operating System (ROS), which has the functions of synchronous positioning and drawing, autonomous navigation and obstacle avoidance. Firstly, the inspection robot of the oil factory area uses lidar to perceive the depth information of the surrounding environment, and integrates the depth camera to collect the surrounding image information. Secondly, Gmapping with SLAM algorithm is used to draw the 2D raster map. At the same time, the Move_base function package realizes the global and local optimal route planning, as well as the obstacle avoidance function, and then completes the navigation inspection task.

KEYWORDS

Petrochemical plant; Robot operating system; Synchronization and mapping; Autonomous navigation and obstacle avoidance

CITE THIS PAPER

Jinhui Xu, Shuang Zhen, Yuanjia Ma, Design of Patrol Robot in Petrochemical Plant Area Based on ROS. Advances in Computer, Signals and Systems (2022) Vol. 6: 32-36. DOI: http://dx.doi.org/10.23977/acss.2022.060606.

REFERENCES

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[8] Li Xinzhe, Gao Yuyuan, He Qiwei, et al. (2022) A SLAM intelligent car design based on ROS. Information and Computer (Theoretical Edition), 34(11), 144-146.
[9] Wu Di, Du Feng, Cai Yijie, et al. (2020) Research on SLAM Navigation of Intelligent Car Based on McNamun Wheel. Equipment Manufacturing Technology, 10, 20-25.
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