Research And Implementation Of Mapping Algorithm And Path Planning For Two Wheeled Mobile Robots Based On ROS

In the development of modern science and technology,robotics has attracted a lot of attention from scientists both at home and abroad as a new discipline.In the field of robotics,mobile robot is a very important part.In the research field of mobile robot,path planning for mobile robot is a problem to be solved.In this paper,we selected a suitable mobile robot and carried out the kinematics and dynamics analysis.Then we studied the related path planning algorithm.Then,the related research on the ROS system and its corresponding Linux system is carried out.Finally,the related algorithms are introduced into the mobile robot for driving test and obstacle avoidance test.The research on the two wheeled mobile robot under the ROS system is carried out.(1)Discuss the development status and trend of robotics,and list the problems to be solved in this project,that is,the related research on map construction and path planning algorithm for two-wheeled mobile robot navigation.(2)Select the structure of mobile robot,and choose the relevant configuration which is related on the research environment of the subject,comparing the different structures of the real robot mobile experiment of the subject,then compare the different structures of the real robot mobile experiment environment,choose two wheels as the main driving wheel from several different robot mechanisms,and add a support to the front end of robot.A three wheeled mobile robot structure supporting a universal wheel.Then we carried out the kinematics and dynamics analysis of the structure.(3)Firstly,we explore the mapping algorithm(SLAM)of the mobile robots,and then analyze the Gmapping and Hector algorithms theoretically.In this paper,we studied several path planning algorithms:A*algorithm?RRT algorithm?and DWA algorithm.We will figure out the result in the simulation in ROS?(4)We will do some research on the ROS system in this chapter.Then we will do some simulation on Gmapping and Hector algorithm.Then we use Stage,one of the software of ROS system to simulate the A*algorithm,RRT algorithm and path planning under the simulataneous action of global path planning and local path planning,and then compare them.(5)Select related robot platform for related experiments.Firstly,we carried out the comparative experiment of path planning between A*algorithm and RRT algorithm,and then we carried out the simulation of the A*algorithm and RRT algorithm in the ROS system.And then we do some research on the evaluation function of DWA algorithm.Next,before the experiment of the real two wheel mobile robot,we checked the stability of the linear velocity,angular velocity.And then,we figure out the experiment of the obstacle avoidance of robot.We put the A*algorithm as the global path planning algorithm and DWA algorithm as the local path planning algorithm.(6)In this chapter we figure out some conclusions.In the experiment of A*algorithm and RRT algorithm,the length of path planning of A*algorithm is shorter than the length of RRT algorithm,the time of path planning of A*algorithm is longer than the length of RRT algorithm.In the experiment of the real robot,choosing the algorithm combine of A*algorithm and DWA algorithm is better than the single algorithm.