Question

有谁有turtlebot的C++避障程序或者类似的导航程序的实例吗

Answer 1

inline void rob_control(std::vector<cv::Point> &_contour){
ros::Rate loopRate(10);
int rcount=0;
int lcount=0;
int r_state = 0;
int l_state = 0;
int in_cl = 8;//运动状态改变的阈值
for(unsigned i=0;i<_contour.size();i++)
{
cv::Point p=_contour[i];

PointT pointx=down_cloud->at(p.x*downScale,p.y*downScale);

//todo 安全距离和宽度设定
if(pointx.x<0.3&&pointx.x>-0.25&&pointx.z<1.2)
{
if(pointx.x>0)
{
rcount++;
}
else if(pointx.x<0)
{
lcount++;
}
pre_imageViewer->addCircle( p.x*downScale,p.y*downScale, 3, 1, 0.2,0.1, "contour", 1);
continue;
}
pre_imageViewer->addCircle( p.x*downScale,p.y*downScale, 1, 0, 1,1, "contour", 1);
}
while (ros::ok()){
if(lcount>in_cl&&rcount==0)
{
//turn right
if(l_state == 0)
{

tr();
r_state = 1;
l_state = 0;
std::cout<<"当前路面进行右转。"<<endl;
}

else
{
tl();
l_state = 1;
r_state = 0;
std::cout<<"当前路面进行左转。"<<endl;

}
}
else if(lcount==0&&rcount>in_cl)
{
//turn left
if(r_state == 0)
{
tl();
r_state = 0;
l_state = 1;
}
else
{
tr();
r_state = 1;
l_state = 0;
}
}
else if(lcount>in_cl&&rcount>in_cl)
{
//stop
std::cout<<"复杂情况 ： 多个障碍物"<<endl;
st();
tr();
r_state = 1;
l_state = 0;
}
else
{
gs();
l_state= 0;
r_state = 0;
}

}
}

Answer 2

避障的话，最好能用两个以上超声波模块，这样做就可以不用步进电机了。

你可以把两到三个超声波模块按一定角度装到车的前部，这样就可以根据三个超声波模块回收的距离信息来判断哪个方向有障碍物，从而选择正确的方向前行。