Research On Path Planning Of Indoor Service Robot Based On Lidar

With the rapid development of robot technology,indoor service robots are gradually appeared in to places such as banks,exhibition halls,and hospitals.But currently the robot navigation is low accuracy in a complex and changing indoor environment.Therefore,this thesis studies the path planning of indoor service robots,the main research contents are as follows:The author analyzed the needs and overall structure of this kind of robot,and built an experimental platform composed of laptop,lidar and movable chassis.Based on the basic idea of chassis motion control of indoor service robot,the author designed the hardware circuit and software program of the robot chassis and analyzed the robot motion model and sensor observation model.The robot operating system(ROS)is briefly introduced,the working principle,communication mode and data acquisition process of lidar RPLIDAR A1 are analyzed,and the lidar data acquisition based on ROS is completed.Then,the author conducted a detailed study of Hector SLAM technology,and used the experimental platform to carry out experiments in the laboratory,which proved the accuracy of building environment map.The author planned and studied the indoor service robot path.This part adopts improved ant colony algorithm for global path planning.In order to solve the problems of slow convergence in the early stage and easy to trap in local optimum of traditional ant colony algorithm,the author had improved the algorithm from the following four aspects:initial pheromone distribution,update pheromone,avoid falling into local optimum,and path re-optimization.This simulation showed that the improved algorithm was effective.Moreover,the improved artificial potential field method was used for local path planning.In order to solve the problem of inaccessible target points and local minimum in the traditional artificial potential field method,the potential function of repulsion and attraction was modified.The author proposes path planning based on improved ant colony algorithm and improved artificial potential field method.A series of local target points are set on the global optimal path by the improved ant colony algorithm,and the indoor service robot plans the local path according to the local target points,as far as possible to ensure the global optimal path motion and carry out the experimental verification.