基于Scratch和ROS的教育机器人编程与实现

ArtificialIntelligenceandRoboticsResearch,2018,7(4),178-183PublishedOnlineNovember2018inHans.://doi.org/10.12677/airr.2018.74021:,,.ScratchROS[J].,2018,7(4):178-183.DOI:10.12677/airr.2018.74021ProgrammingandImplementationofEducationalRobotBasedonScratchandROSRuileiZhang1,2,JintaoLiu2,YongxinChou11SchoolofElectricalandAutomationEngineering,ChangshuInstituteofTechnology,ChangshuJiangsu2DepartmentofRoboticsCourse,ExbotRoboticLab,NanjingJiangsuReceived:Oct.10th,2018;accepted:Oct.26th,2018;published:Nov.2nd,2018AbstractEducationalrobotscovercomputerscience,education,automaticcontrol,mechanicalelectronics,artificialintelligenceandotherfields.Theyaretypicalcasesofrobotsusedineducation,aimingatcultivatingstudentscomprehensiveabilityofanalysis,design,practiceandcreation.Thispaperfirstintroducesthestatusquoandtechnologytrendsofeducationalrobotsathomeandabroad.Then,throughliteratureanalysisandcomparison,thispaperproposesthemainproblemsofthecurrentdevelopmentofeducationalrobots.Then,thispaperexplorestheprogrammingandim-plementationofScratchandROSeducationrobots,andintegratesthreekindsofprogramminglanguages:graphical,interpretedandcompiledintoaneducationalrobot.Finally,theeffective-nessoftheimplementededucationalrobotisverifiedbysimulationandexperiment.KeywordsEducationalRobot,Scratch,ROS,ProgrammingConversionScratchROS1,2211220181010201810262018112DOI:10.12677/airr.2018.74021179ScratchROSCopyright?2018byauthorsandHansPublishersInc.ThisworkislicensedundertheCreativeCommonsAttributionInternationalLicense(CCBY).(16)++[1][2][3]ICalicoCalysto[4][5]NASASIPI[6]ROS[7](MOOC)2.ROSOpenAccessDOI:10.12677/airr.2018.74021180Scratch2PythonPythonC++1ROSScratchPythonC++Figure1.Educationalrobotinterface1.3.ScratchROS3.1.ScratchROSScratch(MIT)PythonROS(RobotOperatingSystem)2008WillowGarage(2)Figure2.Scratch&ROS2.ScratchROSROSROS2013(MITTechnologyReview)20101.0ROS(defactostandard)ScratchScratchPythonC++ROS3.2.Ubuntu16.04ROSKineticScratch2Gazebo7JdeRobotPython2.7DOI:10.12677/airr.2018.740211818Scratch23Figure3.Educationalrobotprogrammingandimplementation3.4.hiros.bz24Hello,ROSKinetic!Figure4.Scratchprogramminginterface4.Scratchpythonscratch2python.pyhiros.sb2Pythonwhen@greenFlagclickedrepeat10sayHello,ROSKinetic!endDOI:10.12677/airr.2018.74021182try:foriinrange(10):print('Hello,ROSKinetic!')exceptKeyboardInterrupt:raise5.ROSGazeboV-RepMORSE[8]$roslaunchkobuki_gazebokobuki_playground.launch-screenPythonROS5Server32ROSProxyTopicFigure5.Parameterconfigurationfile5.64MotorsTopicDOI:10.12677/airr.2018.74021183Figure6.Robotsimulation6.6.PythonPythonC++PythonPythonPythonScratchROS(XZ1527)(BK20170436)2018(2018C023)[1]Yoo,J.(2015)ResultsandOutlooksofRobotEducationinRepublicofKorea.Procedia-SocialandBehavioralSciences,176,251-254.[2].(2016)[J].,2016(3):26-32.[3]Hara,K.J.O.,Blank,D.andMarshall,J.(2015)ComputationalNotebooksforAIEducation.Twenty-EighthInterna-tionalFloridaArtificialIntelligenceResearchSocietyConference,18-20May2015,Hollywood,263-268.[4]Su,J.H.,Cai,X.H.,Lee,C.S.,etal.(2016)TheDevelopmentofaHalf-SizeMicromouseandItsApplicationinMobileRobotEducation.InternationalConferenceonAdvancedRoboticsandIntelligentSystems,Taipei,31August-2Sep-tember2016,1-6.[5]West,J.,Vadiee,N.,McMahon,A.,etal.(2017)FromClassroomArduinostoMissionsonMars:MakingSTEMEducationAccessibleandEffectivethroughRemotelyOperatedRobotics.2017IEEEIntegratedSTEMEducationConference(ISEC),Princeton,11March2017,88-95.[6]Rezeck,P.A.F.,Azpurua,H.andChaimowicz,L.(2017)HeRo:AnOpenPlatformforRoboticsResearchandEduca-tion.2017LatinAmericanRoboticsSymposium(LARS)and2017BrazilianSymposiumonRobotics(SBR),Curitiba,8-11November2017,1-6.[7]Lpez-Rodrguez,F.M.andCuestaF.(2016)Andruino-A1:Low-CostEducationalMobileRobotBasedonAndroidandArduino.JournalofIntelligent&RoboticSystems,81,63-76.[8]RelayZhang.Scratch2ROS[N/OL].://kns.cnki.net/kns/brief/result.aspx?dbPrefix=WWJD[ISSN]ISSN2326-34152.://@hanspub.org