Optimization And Implementation Of Autonomous Navigation Function Of Mobile Robot Based On ROS

As an important symbol of the autonomy of mobile robots,autonomous navigation integrates the three technologies of autonomous positioning,path planning and motion control,so that the robot can move towards the specified target autonomously without collision in a specific environment.Due to the complexity and uncertainty of the environment,the robot should be able to achieve the requirements of smooth trajectory,high success rate of navigation and strong system robustness in the process of autonomous navigation.Based on the indoor mobile Robot autonomous navigation function as the research background,and with ROS(Robot Operating System)navigation System and path planning as the focus,for Robot navigation movement in the orbit is not smooth and easy navigation fails in a complex environment these two problems,to make the following work:(1)The system architecture of ROS is deeply analyzed.Aiming at the problem that the Navigation scheme in ROS does not have a high success rate in Navigation in complex environments,a multi-state transition Navigation scheme integrating initial motion is proposed to improve the robustness of the robot in high-speed motion.(2)In global path planning,the trajectory of A* algorithm is optimized by Cubic Spline Interpolation,which improves the global smoothness of trajectory.In local path planning,in view of the traditional planning trajectory by dynamic window method can smooth high-density obstacles in question,proposed a dynamic speed weights based adaptive dynamic window algorithm,the robot can according to the intensity of obstacles of information,dynamic adjustment speed weight,improve the robot in the face of high density obstacle areas through sex and trajectory smoothness.(3)Combined with the above research contents,the mobile robot autonomous navigation system is designed for simulation test,and the RIA-E100 platform is used as the functional realization carrier to complete the final realization of the autonomous navigation function of the mobile machine.Finally,the ROS navigation system and the system in this paper were compared and tested in different environments to verify the advantages of the system in terms of navigation success rate and running time.