AGV Environment Modeling And Path Planning In Complex Workshop Environment

With the development of human society and science and technology,the demand for AGVs suitable for complex workshop environment is expanding day by day,and people have higher and higher requirements on the intelligence level,accuracy,accuracy and safety of AGVs.In order to improve the development efficiency of AGV and the universality of the technical platform,and quickly meet the diverse needs of application environment and scenes,this paper studied the environmental modeling and path planning of AGV based on the universal Robot Operating System(ROS)platform.The main research contents of this paper are as follows:1.Build hardware platform of small mobile robot system based on ROS platform,and build simulation and experimental environment for subsequent verification algorithm.Firstly,the hardware components required for the robot environment modeling and path planning tasks are introduced.The working principle,advantages and disadvantages of the selected mobile robot base and RGBD camera are studied and analyzed.Then,the framework and control process of ROS robot platform software were studied and introduced.Finally,kinematics analysis was carried out on the base of mobile robot,making early preparation for the algorithm design below.2.Aiming at exploring efficiency in modeling process to explore the independent environment and traversal problem,put forward a kind of based on fast searching the boundary of the randomized tree algorithm,using the global rapid global search tree boundary point,combining with the exploration robot local tree near the boundary point method to realize the robot autonomous environment to explore,and local search tree will explore the boundary point of priority to filter distribution,improve the efficiency of exploration unknown around the robot,avoid the problem of repeated exploration.3.Analysis of complex workshop environment on the special requirements of path planning algorithm,an improved TEB local path planning algorithm,the original TEB algorithm on the basis of the punishment to join a distance function,reduce the distance of local path planning implement the planning cost,avoid the local path around the global path shocks the safety hidden danger of driving movement;Then the G2 O optimization framework and ROS navigation framework are introduced in detail.Finally,simulation experiments and real robot experiments prove the effectiveness and practicability of the algorithm.4.Finally,it analyzes the hot technologies under the current AGV environment modeling and path planning research topic,and determines the direction for future research.