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用于ROS的仓库系统中三轮叉车建模的仿真与实现

Simulation and Implementation of the Modeling of Forklift with Tricycle in Warehouse Systems for ROS.

作者信息

Tu Kuo-Yang, Hung Che-Ping, Lin Hong-Yu, Lin Kaun-Yu

机构信息

Department of Electrical Engineering, National Kaohsiung University of Science and Technology, No. 1, University Road, Yanchao District, Kaohsiung City 82445, Taiwan.

Ph.D. Program in Engineering Science and Technology, College of Engineering, National Kaohsiung University of Science and Technology, No. 1, University Road, Yanchao District, Kaohsiung City 82445, Taiwan.

出版信息

Sensors (Basel). 2025 Aug 21;25(16):5206. doi: 10.3390/s25165206.

DOI:10.3390/s25165206
PMID:40872068
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC12390591/
Abstract

In the age of labor shortage, increasing the throughput of warehouses is a good issue. In the recent two decades, automatic warehouses designed to reduce human labor have therefore become a very hot research topic. Tricycle forklifts being able to carry heavy goods can play important roles in automatic warehouses. Meanwhile, Robot Operating System (ROS) is a very famous and popular platform for developing the software of robotics. Its powerful communication function makes lots of warehouse information exchange easy. Therefore, ROS installed as the communication backbone of warehouse is very popular. However, the software modules of ROS do not offer tricycle forklifts. Therefore, in this research, the model of a tricycle forklift developed for ROS systems in warehouse applications is constructed. In spite of the developed model, the existing software modules must be modified for compatible connection such that the tricycle forklift can be navigated and controlled by constructed ROS. For the function of Simultaneous Localization And Mapping (SLAM) and the control of self-guided navigation, the constructed system is verified by Gazebo simulation. In addition, the experiments of a real tricycle forklift to demonstrate the developed ROS for enough accuracy of warehouse application are also included.

摘要

在劳动力短缺的时代，提高仓库吞吐量是一个重要问题。因此，在最近二十年里，旨在减少人力的自动化仓库成为了一个非常热门的研究课题。能够搬运重物的三轮叉车在自动化仓库中可以发挥重要作用。同时，机器人操作系统（ROS）是一个非常著名且流行的机器人软件开发平台。其强大的通信功能使得大量仓库信息交换变得容易。因此，将ROS作为仓库的通信骨干进行安装非常受欢迎。然而，ROS的软件模块并没有提供三轮叉车相关内容。因此，在本研究中，构建了一个用于仓库应用的、基于ROS系统开发的三轮叉车模型。尽管已经开发出了模型，但现有的软件模块必须进行修改以实现兼容连接，以便三轮叉车能够由构建好的ROS进行导航和控制。对于同步定位与地图构建（SLAM）功能以及自主导航控制，通过Gazebo仿真对构建的系统进行了验证。此外，还进行了真实三轮叉车的实验，以证明所开发的ROS在仓库应用中具有足够的准确性。

https://cdn.ncbi.nlm.nih.gov/pmc/blobs/b563/12390591/6a2381123ec5/sensors-25-05206-g013.jpg
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https://cdn.ncbi.nlm.nih.gov/pmc/blobs/b563/12390591/cd9ce84fed81/sensors-25-05206-g006.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/b563/12390591/33e060ff4ac0/sensors-25-05206-g007.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/b563/12390591/702425216fe3/sensors-25-05206-g008.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/b563/12390591/99e9ed8a72b5/sensors-25-05206-g009.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/b563/12390591/7bb9c6e3847e/sensors-25-05206-g010.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/b563/12390591/741f65ee974a/sensors-25-05206-g011.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/b563/12390591/cb6b406de576/sensors-25-05206-g012.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/b563/12390591/6a2381123ec5/sensors-25-05206-g013.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/b563/12390591/bff311ea50bc/sensors-25-05206-g001.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/b563/12390591/5d14446904b8/sensors-25-05206-g002.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/b563/12390591/605c64d377f5/sensors-25-05206-g003.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/b563/12390591/933758ad1971/sensors-25-05206-g004.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/b563/12390591/76000319b787/sensors-25-05206-g005.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/b563/12390591/cd9ce84fed81/sensors-25-05206-g006.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/b563/12390591/33e060ff4ac0/sensors-25-05206-g007.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/b563/12390591/702425216fe3/sensors-25-05206-g008.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/b563/12390591/99e9ed8a72b5/sensors-25-05206-g009.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/b563/12390591/7bb9c6e3847e/sensors-25-05206-g010.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/b563/12390591/741f65ee974a/sensors-25-05206-g011.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/b563/12390591/cb6b406de576/sensors-25-05206-g012.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/b563/12390591/6a2381123ec5/sensors-25-05206-g013.jpg

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