Development Of SLAM And Dynamic Obstacle Avoidance Robot Based On Lidar

In the era of rapid technological development,robots are widely used in various fields including express delivery,expedition rescue and social services,and are slowly entering human life.Simultaneous Localization and Mapping(SLAM)and navigation are the core technologies of intelligent robots.Considering the diversity of robot functions,the development of a robot with dynamic obstacle avoidance function is more meaningful.This paper designs a dynamic obstacle avoidance robot based on lidar.Firstly,according to this topic,the overall scheme of robot system design is given.The function and performance index of the system are described.Then the hardware and software platform of the robot are designed,and the kinematics model of the robot is analyzed.Secondly,two laser SLAM algorithms,namely Gmapping algorithm and Cartographer algorithm are studied,and the algorithm is implemented in Gazebo,and the advantages and disadvantages of these two algorithms are obtained by comparison.Then a laser radar module is designed to remove motion distortion.The adaptive Monte Carlo positioning algorithm and path planning algorithm,namely,the A* algorithm and the Timed Elastic Band(TEB)algorithm were studied,and simulation experiments were carried out in Gazebo to verify the navigation capabilities of the algorithm.A method of writing scripts is proposed to realize the multi-point cruise function of the robot,and experiments are carried out in a real environment.Finally,in a real experimental environment,a functional test of the robot was carried out.The mapping function of the robot was tested with gmapping and cartographer,and the realization results were analyzed.The multi-point cruise function of the robot was tested by running the script,and the reliability of the method was verified.And during the cruise,the robot's dynamic obstacle avoidance function was tested,and it was found that the dynamic obstacle avoidance ability of the TEB algorithm was relatively good.Completed the design of this subject.