1756-IF16K

1756-IF16K

1756-IF16K

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M算法(simultaneous localization and mapping,即时定位与地图构建)。

　　但作为一个开源项目,ROS也存在一些问题。例如,ROS因为将功能分布在各个节点之中,节点间基于消息机制通信,通讯部分消耗了很多系统资源。尤其是当所有节点位于同一个处理器时,ROS仍然一直执行相应的消息分发,节点间的数据传递通过内存复制,大量的系统资源都浪费在通讯上,使得系统必须选用高性能的处理器和存储系统以弥补损耗。换句话说,利用ROS来实现SLAM,需要配备性能优越的硬件设备,这对于一些小型化嵌入式平台,尤其是实际的机器人产品里,其对计算资源、存储空间的消耗会使成本大幅上升。

　　除了ROS本身系统设计的局限性外,利用ROS实现SLAM需要深入的调整优化,需要耗费大量人力与时间成本。更为重要的是,针对具体的机器人产品,如扫地机器人,还需要独特的贴边清扫、折回清扫、多房间自主导航等功能,目前已有的ROS系统,只能实现简单的建图,无法满足扫地机器人的实际需要。

　　4 ROS之外,还能怎么做

　　在机器人商用应用开发的道路上,很多技术团队和公司针对机器人特定功能开发着相应商用产品,特别是在移动机器人领域,如思岚科技的Slamware控制模块,就将SLAM算法,导航,定位等功能集成在一个体积很小的模块,并且提供了多平台的SDK方便用户使用。针对扫地机器人等具体领域应用,思岚科技也提供完整的解决方案,整合了其特有的贴边清扫、往复式打扫、区域划分、断点续扫、自动回充等功能,方便扫地机器人厂家进行整合,不需要进行二次开发。

　　当然,相较于采用开源ROS系统,选择已有的成熟解决方案,无疑会增加机器人厂家的成本,但考虑到厂家必须投入大量的人力与时间进行算法优化与调整,这也不失为一种的选择。

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