| The path planning problem of indoor mobile robots is a hot issue in the current robot field.The robot moves to the target location after sensing the surrounding environment and carrying out path planning.This is the premise and basis for the robot to complete more complex tasks.In this paper,based on the ROS robot operating system,the use of ROS such as slam,navagation and other powerful feature packages for mobile robot software platform and build a mobile robot hardware platform.The mobile robot system platform consists of a chassis control system,a route planning system,a SLAM system,a visual interface,and coordinate conversion.The Rplidar A1 radar sensor and GY-85 module are used to collect robot environment information on the system platform to construct an environment map,which provides a basis for simultaneous positioning,map construction and path planning.Based on the analysis of the Dijkstra algorithm,DFS depth-first search algorithm and A*algorithm,the A*algorithm based on head-end two-way search is simulated.The simulation results show that the algorithm can take into account the computational efficiency.The optimal collision-free global path is planned,and the performance of both the algorithm's operating speed and the expanded node scale has been significantly improved.Finally,a path planning system is built on the ROS three-wheeled robot.The global path planning adopts A*algorithm based on head-to-tail bidirectional search,and the local path planning adopts DWA algorithm.The combination of the two realizes the path planning and movement functions of indoor mobile robots.Tested in laboratory corridors and various indoor environments,the system completed the construction of maps and autonomous path finding,achieving the desired results. |
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