Research On Mobile Robot Navigation Technology Based On ROS

Autonomous navigation is the fusion of various sensor information, access to the robot's environment information, decision-making robot stroke, and real-time guidance robot to reach the target point of technical support.Navigation technology is an important research content in the research of mobile robot. It is a mobile robot to find the optimal or sub optimal path from the initial state to the target state without collision, such as distance, time and energy, so that it can be as smooth and safe as possible. In this paper, the specific requirements of the project of "intelligent robot system" and the "Nucleus environmental robot system" project of the national defense science and Technology Bureau are analyzed, and the key technologies are analyzed and studied.For navigation in the global path planning and local path planning is difficult to combine with the problem of hierarchical genetic algorithm, global planning using genetic algorithm TSP to solve the classic model business travel travel order point target, local path planning using genetic algorithm based on point interpolation grid map optimization model to solve the single target point navigation, hierarchical planning consideration the effectiveness and real-time planning, better meet the requirements of robot global multi-objective planning.And the vehicle body control and path planning are combined to propose a learning model of neural network PID four wheel drive model. The speed control of the four wheeled mobile robot with an independent structure makes it strictly follow the predetermined trajectory, and the robot can achieve obstacle avoidance.In the whole system, the simulation platform of VREP robot is down regulated by ROS robot, and the dynamic environment of 3D multi-obstacle is established. The validity of the navigation strategy based on hierarchical genetic algorithm is verified.