Development Of AGV Simulator Based On C++ And QT And Application Of A Pathfinding Algorithm With Dilated Map

In recent years,mobile robots have developed rapidly,and mature robot operating system frameworks such as ROS have become robot platforms used by many universities and research institutions.When the epidemic came,real machine experiments were limited,and robot simulation platforms received more attention.But while using ROS directly brings convenience and practical benefits such as rapid verification and security practices,it also largely limits the development environment and application environment,limiting the thinking space and innovation awareness of scientific researchers.This article aims to clarify the core software and hardware requirements of the mobile robot platform in daily scientific research activities,choose C++ language to write hardware abstraction,message delivery and motion logic,choose Qt for visualization,build an AGV simulator from zero,and simulate on this basis to achieve navigation avoidance Barrier algorithm to help realize the application of robot technology with higher degrees of freedom.This article establishes three coordinate systems according to the needs of use:world coordinate system,grid coordinate system,pixel coordinate system.The world coordinate system is used to represent the pose of the robot,the grid coordinate system is used to facilitate path search,and the pixel coordinate system is used to facilitate human-computer interaction.The three coordinate systems can be flexibly converted when necessary,and coordinate to complete the specified tasks.Aiming at the problems in the actual use of the Naive A* pathfinding algorithm,this paper also made the following attempts based on the implementation of the Naive A* pathfinding algorithm: using the grid pyramid search path to improve the search speed;multi-threaded computing improves the program response Speed;use straight line detection algorithm to simplify the number of path points on a straight line.In this paper,according to the programming idea of high cohesion and low coupling,the visualization module,the human-computer interaction module and the robot motion module are separated,and the communication is carried out through the message transmission mechanism,which is beneficial to expand to the simulation of multi-agent scenes.In addition,the database can also be used to store the operating parameters of the robot to achieve remote control of the robot.