Design And Implementation Of Robot Path Navigation System Based On ROS

With the development of the science and technology robots have been widely used in life.Especially in recent years,the research on intelligent robots has become more and more popular.One of the obvious characteristics of intelligent robots is that they can move independently.This paper mainly studies the path navigation system of indoor robots.Based on ROS(Robot Operating System)research the key technologies of the autonomous navigation system.ROS is widely used in robot project development.It's characteristics are high versatility,strong scalability and more higher code reuse rate.Use this platform to design a path navigation system for indoor robots needs SLAM technology,path planning technology and laser radar sensor measurement technology.The simultaneous localization and mapping is a difficult problem in the field of robotics.Rao-Blackwellized particle filters(RBPF)algorithm is widely used to solve this problem.In the traditional implementation,the proposed distribution with high error will and calculate a large number of sampled particles to fit the target distribution.Frequent resampling steps will lead to gradual dissipation of particles and waste a lot of computing resources.In this paper,the motion model and observation information are combined to optimize the proposed distribution,reduce the number of sampled particles,and the adaptive resampling method is introduced to reduce the steps of resampling.In the implementation of the algorithm,the tree data structure is used to store the environment map.The experimental results show that the improved algorithm can significantly improve the computational efficiency,reduce the storage consumption,and build more accurate map.Path planning is the core of robot path navigation system,which mainly includes global path planning and local path planning.In this paper we will research the global path planning algorithm A* and the local path planning algorithm DWA.The adaptive Monte Carlo method is used to locate and track the pose of the robot.Theeffect and feasibility of this method on the navigation of the robot in unknown environment is verified by experiments.Finally build the experimental platform of the navigation syste,and design the SLAM experiment,path planning experiment,autonomous navigation exploration experiment and Closed-loop Detection Experiment for the 2D lidar path navigation syste.The feasibility of the design idea of the system is verified by the experimental results.