The Path Planning And Interactive Navigation Study Of The Mall Shopping Guide Robot

In the past few years,the rapid development of the robotics has been booming the life of the traditional industries.Consequently,it has become a hot topic in the technical world and are attracting more and more experts and scholars to do further studies on it.This thesis is on the designing of a mall shopping guide robot,which includes the requirement analysis,interactive guiding design,map navigation design,and voice guidance design.This kind of interactive shopping guide robot would largely improve the shopping efficiency for customers.Whereas,the complex environment of a shopping mall is quite a challenge for this project,so we integrate the global path planning and local path planning to realize the real-time obstacle avoidance.This study would include the following parts:First,in order to improve the moving efficiency as well as the flexibility of the robot,we will introduce the local path planning into the frame of the global path planning and integrate them together to solve the navigation insufficiency of the global path planning alone.Second,in an attempt to solve the inefficiency of the A* path planning,for example,too many turns with large accumulated turn angles,we proposes to add the Piecewise Bezier Curve to enhance the path planning of the shopping robot.The specific steps are: first,use the A* algorithm to primarily plan the path;then,use the Piecewise Bezier Curve to adjust the primary path;at last,connect the paths generated in the former step and get the final version of the path planning.This is tested to be functional in the experiment.Third,this thesis has completed the coding of the interactive guiding app.Its functions include goods oriented navigation,interactive voice navigation,real-time map feedback from the shopping guide robot,and the real-time following service of the robot.At last,we simulated the environment of the shopping mall to test the mobile phone interactive navigation,map building of the shopping mall and people dodging function.It turns out that the shopping guide robot we designed is viable and applicable.