Research On Dynamic Path Planning Of Omnidirectional Mobile Robot Based On ROS

With the development of robot technology,more and more mobile robots are used in people's daily lives.The key to the application of mobile robots in assisting or replacing humans to complete tasks lies in their autonomous navigation ability in the process of moving from the current position to the desired target position.The autonomous navigation technology of mobile robots involves many aspects such as environment perception,decision-making and planning,and control and execution.On the basis of environmental perception,the pros and cons of decision-making and planning directly determine the autonomous navigation capability of mobile robots,and the most important thing for decision-making and planning is path planning.Path planning has always been a key issue in the research of mobile robot technology.As the application environment of mobile robots becomes more and more complex,the path planning of mobile robots also faces greater challenges.This article takes the omnidirectional mobile robot SAVVY based on the ROS system as the research object to study its dynamic path planning:This article first analyzes the relevant knowledge of ROS system and omnidirectional mobile robot SAVVY.The framework and flow of the navigation module in the ROS system are summarized,the kinematics model of the four-wheel omnidirectional mobile robot is established,and its correctness is tested through experiments.This paper discusses the global path planning method of mobile robots in a dynamic environment,mainly introduces the D~* Lite algorithm,introduces its improvement strategy,and gives an improvement scheme from the node's cost value.The scheme can effectively reduce the number of node expansions of the D~* Lite algorithm when searching for paths,and finally simulate on ROS to prove the superiority of the D~* Lite.Based on the VFH+ algorithm with good obstacle avoidance performance,combined with the characteristics of the mobile robot SAVVY,it is improved to make the local obstacle avoidance of SAVVY at the current position more accurate and safe.In addition,based on the existing global path,combined with the idea of A~* path planning,the improved VFH+ obstacle avoidance algorithm is extended,and a local path planning method for omnidirectional mobile robots based on VFH~* algorithm is proposed for planning the local path of SAVVY from the current position to the local target location.The effectiveness and superiority of local path planning based on VFH~* are verified through comparative simulation.Replace the global path planning method and local path planning method already implemented in ROS with the method in this article,and then build multiple experimental scenarios to test the navigation ability of SAVVY in actual scenarios to verify that the method in this article can indeed make mobile robots apply to dynamic Navigation in the environment.