Research On Indoor SLAM And Path Planning Algorithm Based On ROS Mobile Robot

Nowadays,mobile robots have been widely used in various fields.Among them,mobile robot navigation has become the research hotspot for many scholars.In the mobile robot navigation technology,localization,mapping and path planning are the three most important components.The research content of this paper includes the following two aspects: one is the research on indoor positioning and map construction technical issues,that is,the research on Gmapping?SLAM synchronous positioning and map construction algorithm;the second is to propose two optimization algorithms of two-way JPS+ and improved DWA,and put this The two optimized algorithms are combined to obtain a hybrid path planning algorithm.The paper mainly did the following work:(1)Principle introduction and method analysis for grid environment modeling,indoor positioning and map construction,and formula derivation and algorithm optimization for EKF?SLAM algorithm and RBPF?SLAM algorithm.Aiming at the shortcomings of these two algorithms,the Gmapping?SLAM algorithm is introduced and simulated experiment analysis is carried out.Experimental results show that the Gmapping?SLAM algorithm can build high-quality maps and is suitable for indoor small-scale maps.The algorithm is simple and suitable for indoor SLAM navigation.(2)Aiming at the problem of global path planning,the principle introduction and simulation experiment of JPS algorithm are carried out.Study the realization and optimization of the JPS algorithm,optimize the JPS algorithm with the two-way search idea,and verify the feasibility and efficiency of the two-way JPS+ algorithm through experiments.Experimental results show that compared with the traditional A*algorithm and JPS algorithm,the two-way JPS+ algorithm reduces search time and improves security.(3)Aiming at the problem of local path planning,the principle introduction and simulation experiment of DWA algorithm are carried out.Regarding the problem of "U-shaped obstacles",the two methods of "walking along the wall" and "predicted distance method" are combined to solve the problem of "U-shaped obstacles" that tend to fall into local minimums during the operation of the DWA algorithm.The problem of successfully completing the local path planning process.The experimental results show that the use of the improved DWA algorithm allows the mobile robot to smoothly escape and avoid "U-shaped obstacles" to complete the path planning process.(4)Aiming at the shortcomings of the single path planning algorithm,based on the research in this paper,a hybrid path planning algorithm based on the combination of the two-way JPS+ algorithm and the improved DWA algorithm is designed,and simulation experiments are designed to verify the hybrid path planning algorithm.The experimental results show that the hybrid path planning algorithm in this paper can make the mobile robot plan a better path indoors.