Design Of Autonomous Navigation Robot Based On ROS

With the rapid development of the robotics industry in recent years,autonomous mobile robots have become a hot spot for the development and investment of the robotics industry,as well as the main trend in the development of robotics technology.Non-omnidirectional wheel mobile robots have disadvantages such as large turning radius and inflexible movement,which limit their application in many fields.In this paper,the Mecanum wheel is used as the motion mechanism of the robot,and the design and research of an omnidirectional wheel autonomous navigation mobile robot based on ROS is carried out.The main contents of this paper are as follows:1.Mathematical modeling of mobile robots.The coordinate system is defined for describing the motion of the robot.The triangular ranging lidar observation model is studied.The Mecanum wheel kinematics model is analyzed and the forward and inverse solutions of the model is presented.Through the analysis and comparison of the environmental map model,the grid map suitable for 2D lidar is selected for subsequent experiments.The mobile robot simulation model and the space motion simulation environment are established,which will be used in subsequent algorithm simulations.2.The mobile robot SLAM,positioning and path planning algorithms are researched.The gmapping algorithm based on RBPF is used for SLAM simulation of robots.The simulation results show that the algorithm can construct maps in real time in small indoor scenes with high accuracy and good results.A multi-sensor fusion algorithm based on the extended Kalman filter is studied,more accurate odometer data is obtained by using this algorithm to integrate encoder data and IMU data.The AMCL positioning algorithm based on the particle filter method is studied,and this algorithm is used to locate the robot.It can be seen from the simulation experiment that the algorithm can determine the pose of robot more accurately,and it can also show a more ideal performance in the pose tracking experiment.The A* global path planning algorithm and the DWA local path planning algorithm are analyzed.The move?base navigation framework that combines the above two path planning algorithms is used in the simulation experiment to plan the robot path.The simulation results show that the robot can achieve navigation,obstacle avoidance functions regardless of whether there is an emergency.3.The overall design of the mobile robot is carried out,the ROS-based Mecanum wheel mobile robot experimental platform is built,and the system parameters are adjusted.The obstacle avoidance experiment of the original map environment,the appearance of fixed obstacles and moving pedestrians in the forward path are carried out in an indoor environment.The experimental results show that the robot can successfully complete SLAM,positioning,path planning,navigation and obstacle avoidance experiments by using gmapping algorithm,EFK fusion algorithm,AMCL positioning algorithm,and move?base navigation framework.In the original map environment,the robot can successfully reach the target point according to the planned path.In the case of obstacles in the forward path,the robot can re-plan the path and effectively avoid the obstacles.When the robot encounters a pedestrian,it can adjust the planned path in real time according to the direction of the pedestrian's movement,bypass the pedestrian,and reach the designated location.The experimental results are relatively ideal,which indicates that the robot designed in this paper has high adaptability.