Research On Path Planning And Navigation Method For Warehousing Logistics Robot

Aiming at the problems of high labor cost,poor security,low efficiency and high error rate of current warehousing logistics,this paper studies the path planning and navigation methods of intelligent warehousing logistics robots.This paper combines the development status of warehousing and logistics robots at home and abroad,focuses on the positioning and navigation of single robots in intelligent warehouses,introduces the overall flow of warehousing and logistics robot navigation,and proposes a self-navigation method based on SLAM(Simultaneous Localization and Mapping).T Compared with the traditional vision-based two-dimensional code navigation method,this method does not need to modify the factory layout,does not require ground assistance,and the operation of the robot is not affected by the illumination.The research content and results of this paper are divided into the following parts:First of all,it introduces the operation process of traditional warehouse,including warehousing,receiving,loading,pre-allocation,picking,collecting,shipping,etc.,pointing out the superiority of intelligent warehouse.The development status of warehousing and logistics robots and mobile robot path planning at home and abroad is reviewed.Comparing the three classic lidar-based SLAM algorithms,the advantages and disadvantages of the three are analyzed.Then the data obtained by the lidar sensor is used as the input of the SLAM algorithm.The real-time map is constructed by using the RBPF-based particle filter.This paper proposes a SLAM method of warehouses logistics robots that can be used in industrial storage and can be used for industrialization.Then,the research on navigation method of warehousing and logistics robot based on SLAM was carried out.The navigation process of the robot is divided into three parts: positioning,global planning and local obstacle avoidance.Aiming at the robot abduction problem in the positioning process,the adaptive Monte Carlo method is adopted to increase the random state of the system by randomly adding particles to the particle set,and the robustness level of the system is improved.Combined with the global path planning algorithm A* and the local obstacle avoidance algorithm DWA algorithm,a dynamic path planning process is performed in the established raster map.Finally,in order to verify that the SLAM-based navigation method can be used in a secure physical storage environment,navigation experiments are designed,including the establishment of indoor environment map,global path planning,and dynamic obstacle avoidance.The experimental hardware platform uses the Turtlebot robot and the Rplidar laser radar,and gives the hardware structure for autonomous navigation.The software platform uses the robot operating p latform ROS and selfdeveloped control software.The experimental results show that the robot can accurately plan the global path,reach the target point,and accurately avoid the dynamic and static obstacles in the indoor environment.It can be obtained from the experimental results.This paper studies the warehousing logistics robot operation requirements and has high engineering application value.