Design And Research Of Home Service Robot Navigation Control System Based On ROS

In recent years,robot-related technologies have taken up an important position in today's rapidly developing science and technology.The technology is widely used in all walks of life,resulting in changes in people's daily lifestyles.Traditional robots can no longer meet the needs of mankind.With the development of artificial intelligence technology,human beings have put forward higher needs for the intelligence of robots.Autonomous navigation technology has become an important symbol of robot intelligent expression.This paper mainly studies the key technologies of home service robot for autonomous navigation:positioning,map construction and path planning.According to autonomous navigation function of home service robot,Autonomous navigation control system based on robot operating system(ROS)is designed and autonomic navigation function of home service robot is realized.In this paper,firstly,the research status of robotics and related technologies are introduced.According to the functional requirements of home service robots,further analysis is made to modularize the robot's autonomous navigation control system.Map construction uses a grid map construction method,while the synchronous positioning is based on the particle filter algorithm.The SLAM method based on Rao-Blackwellisation particle filter is used to realize the robot's precise positioning and map construction.The navigation control system module is implemented based on the constructed environment map.The A*algorithm is used to plan the global route,and the lowest cost global route is planned from the starting point to the target point.In the course of the robot moving along the global path,the dynamic window method is used to realize the planning of the local path.And update the map.To achieve autonomous navigation obstacle avoidance.The navigation and control system of the robot based on ROS has realized the robot's autonomous navigation function,and tested and carried out many experiments on autonomous navigation control system in a simulated home environment.Experimental results show that this system can well accomplish the functions of map construction and robot path planning,and has good real-time and robustness.