The Design And Implementation Of The Robot Navigation System For The Conference Service Based On ROS

With the development of science and technology and the improvement of social level,the demand for informationization and automation in modern production and life is growing day by day,and robots have been widely used in various fields.Due to the increasing problems of population aging,it has aroused widespread concern in the society,the state has begun to consider alleviating this kind of situation,and service robots play an extremely important role in improving this situation,so the service robotrelated technology research has become a research focus.For indoor service robots,not only should have the ability to identify the surrounding information,but also the ability to autonomous navigation and barrier avoidance in the environment,and can be applied in different scenarios.The purpose of this paper is to develop a robot navigation system that can realize the function of autonomous positioning and navigation,and in the conference room scene,it can realize the customized task according to the host's wishes,and assist the participants to carry out the meeting.The main research contents of the dissertation are as follows:1.In view of the functional requirements of the navigation system in this paper,the navigation system is designed.The whole is based on the ROS development,the navigation frame is move_base frame,the robot uses the differential drive car model,and the sensor uses lidar,which is used to detect the surrounding information.2.Gazebo software is used to build the simulation environment,including the car model,sensor model,etc.,including car model,sensor model,etc.,as well as build the car's surroundings,and place the car model in the environment.Gmapping algorithm was used to build the environmental map and prepare for the next navigation plan.3.The path planning algorithm is investigated.To improve the global path planning algorithm A star,the angle information is added as heuristic function on the basis of the original distance heuristic function.And for the planning path redundancy,the simplified path and cubic spline interpolation smooth ingesting processing are used.the local path planning algorithm eband local planister is improved,and for the differential robot,the original planner can not complete the navigation tasks.First,the state machine is added on the basis of the original planner,follow the global path under state machine conditions,secondly,the bezier curve is used for the planned local path to smooth,and finally the HBZ controller is used as the controller of path tracking.Finally,the effect of improving the path planning algorithm is tested in the simulation environment.4.In order to realize the function of task customization and make it convenient for people to use,the user friendly interface design of task customization was carried out.The interface is based on the rviz plugin,the interface includes the storage and loading of navigation points,selection of navigation mode,start and cancel of navigation tasks,implementation of customized tasks and so on.