Research On Environment Modeling And Path Planning Of Autonomous Mobile Robot Based On ROS

With the rapid development of science and technology,the intelligent process of mobile robots has been greatly promoted.As the cost of labor continues to rise,mobile robots are particularly urgent to replace low-end repetitive labor.The prospects of mobile robots in the industrial field or in the catering and entertainment service industries are very broad.With the continuous development of human society,the research field of mobile robots is becoming more and more extensive,the development of the field of mobile robots is becoming more and more intelligent,and the high degree of development of autonomous mobile robots is increasingly approaching the intelligent driving of electric vehicles.In the environment of intelligent development of mobile robots,on the one hand,we must ensure that robots can help us complete our tasks,and at the same time,humans have increasingly higher requirements for the accuracy,precision,and safety of robots.Mobile robots must know where they are going and how they can reach them at work,so it is important to study mobile robot technology in depth.The research in this paper will be carried out under the open source operating system(ROS)of the robot.According to the existing functions under the ROS,the environment modeling and path planning of the mobile robot will be studied.1.Construction of mobile robot platform under ROS.Install Ubuntu and the corresponding version of ROS on the PC and the robot upper computer Raspberry Pi,complete the communication between the Raspberry Pi and the lower computer in the robot,and realize the networking of the robot and the PC under ROS.Build a robot in the ROS system to test the built environment,and test the communication between the PC and the mobile robot.2.Map creation based on Hector SLAM.In this paper,Hector SLAM relies solely on Lidar data input for optimization.It integrates Lidar,odometer,and IMU data,and uses ICP registration and odometer-assisted optimization in the data preprocessing process.Effectively improved the slipping phenomenon in the Hector SLAM drawing process.3.Research on path planning based on A*algorithm and behavior dynamics.The global path planning algorithms A*and Dijkstra in ROS are studied and analyzed,and the simulation comparison analysis is performed in MATLAB.The A*algorithm is optimized based on the idea of eliminating redundant nodes.Through path planning experiments in ROS simulation environment and real environment,it is learned that the path planned by the optimized A*algorithm is smoother,and the behavior dynamics method does not tend to be optimal in path length,but the planned path is more inclined Nearly safe and collision-free.4.Construction of mobile robot navigation system based on ROS.The positioning ability,straight-line accuracy and rotation accuracy of the mobile robot are tested,and the autonomous navigation of the mobile robot is realized in the simulation environment and the real environment.