Design And Implementation Of Intelligent Complete Coverage Path Robot Based On ROS

The intelligent complete coverage path planning robot is the robot system that can be used to explore the unknown environment and terrain systematically,to plan the path independently,and to finish the complete coverage of the area.Complete coverage path planning robot system involves all kinds of key technologies needed by intelligent robots,which is of great significance in practical application.At present,most of the researches on complete coverage path robots focus on the design of path planning algorithms.Using the existing research results,this paper tries to design and build a complete coverage path planning robot system based on the mobile robot platform by adding more sensors and controllers.First of all,combined with specific requirements,the overall scheme of intelligent full path coverage robot is designed in this paper.The hardware system is set up and the suitable chassis and load are selected.In terms of software,the Robot Operation System is used as the basis of programming.Secondly,we design various algorithms that the robot system should have for task requirements.Based on the SLAM system,a map preprocessing method and a complete coverage path planning algorithm are proposed.A method of obstacle avoidance based on laser radar sensor and collision sensor is proposed.Thirdly,the design and implementation of the main control node program,alongwall-walking node program and the path planning and obstacle avoidance node program are completed in view of the functions that the system should possess.Finally,the system software is simulated on computer and tested in the real environment.The results show that the designed system has the function of achieving the initial goal.