面向任务的无人智能清扫车系统设计
Design of a Task-oriented Unmanned Intelligent Cleaning Vehicle System

近年来，自主清扫系统，例如机器人吸尘器，因其能够自主导航和清洁室内空间的能力，越来越受到社会的欢迎。然而，这些系统的应用仍受限于其清洁范围有限、无法适应各种环境等问题。本研究旨在解决这些局限性，通过提出一种基于ROS2框架的面向任务的智能清扫车系统。该系统利用ROS2的模块化、灵活性和进程间通信等优势，以增强清扫系统的性能和适应性。主要目标是开发一种能够高效、有效地清洁室内空间的系统。研究的关键步骤包括对自主清扫系统和ROS2的文献进行分析，设计和开发硬件架构，实现ROS2软件组件，以及对系统的性能进行严格的测试和评估。
In recent years, autonomous cleaning systems, such as robotic vacuum cleaners, have become increasingly popular in society due to their ability to navigate and clean indoor spaces autonomously. However, the application of these systems is still limited by their limited cleaning range and inability to adapt to various environments. This study aims to address these limitations by proposing a task-oriented intelligent cleaning vehicle system based on the ROS2 framework. This system utilizes the advantages of ROS2’s modularity, flexibility, and inter-process communication to enhance the performance and adaptability of the cleaning system. The main goal is to develop a system that can efficiently and effectively clean indoor spaces. The key steps of the research include analyzing the literature on the autonomous cleaning system and ROS2, designing and developing hardware architecture, implementing ROS2 software components, and conducting rigorous testing and evaluation of the system’s performance.