Research On Mobile Robot Navigation System Based On ROS

The research of this paper originated from the research on the navigation system of the four-wheel differential mobile robot Autolabor2.5 experimental platform.The robot navigation technology mainly included the robot mapping and location functions,the robot path planning in a static environment,and the robot's dynamic obstacle avoidance problem in an unknown local environment.This paper mainly studied the path planning algorithm used for navigation.In order to verify the theory of the designed navigation system,a real robot platform Autolabor2.5 was built,and a simulation model of the development platform was built according to the performance parameters of the robot components,and the performance of the navigation system was tested on the two platforms.When used the traditional A* algorithm combined with the ROS system,there was a problem that the optimal node of the path was deleted when the obstacle was expanded.The safety evaluation mechanism was proposed to screen the path points within the safe distance to ensure the optimal path points will not be deleted,which improved the optimality of the path and ensured the safety of the robot.Finally,in view of the spike problem in the path planned by the improved algorithm,the generated path was smoothed through the second-order Bezier curve,which reduced the number of spikes in the path and made the planned path smoother.When used the dynamic window algorithm for local path planning,by judging in advance whether the target point was included in the obstacle set,the speed pair of emergency braking in the robot speed sampling space was selectively evaluated,which reduced the calculation of the algorithm and the calculation efficiency of the algorithm was improved.Finally,used C++ to program the navigation system in ROS based on Ubuntu16.04 system.Experiments in the simulation environment and the real environment shown that the robot can reach the navigation target point specified by the user smoothly,and the robot was safer during running,there was no collision phenomenon,and the planned path distance was shorter.In the presence of dynamic obstacles,the robot can smoothly evade,robot body shaked less,and the efficiency of local path planning was higher.Those indicated that the designed navigation system shown better performance and can meet the basic navigation requirements.