Design And Implementation Of Mobile Robot Path Planning System Based On SLAM Technology

With the advent of the era of artificial intelligence,the application scope of mobile robots continues to expand,and they continue to emerge in various fields such as industry,agriculture,aerospace and navigation.Before a mobile robot performs a navigation task,it is often in an unknown location in an unknown environment.In order to reach the destination accurately,SLAM technology needs to be used for simultaneous positioning and mapping,and an optimal path is planned for the robot through path planning technology.sports.This subject adopts a two-wheel differential robot,designs a mobile robot path planning system based on SLAM technology,and implements it in the actual workshop environment.For the problem of map construction,first,the mobile robot system is mathematically modeled,and the transformation methods of environmental landmarks in different coordinate systems are introduced.The information is obtained to build a lidar observation model.Finally,several map representation methods are compared,and the grid map is selected as the map representation method of the mobile robot.For indoor mobile robot SLAM technical problems,the shortcomings of the RBPF-SLAM algorithm based on particle filtering are improved,and the Gmapping algorithm is obtained,which is used as the mobile robot SLAM implementation algorithm,and the map is established through the GAZEBO simulation experiment under ROS.,the results show that the constructed map is basically consistent with the simulation environment,which meets the basic requirements of the subsequent path planning for the map.For the path planning problem of mobile robot,the Monte Carlo positioning algorithm and its workflow before path planning of mobile robot are designed,and the positioning process is realized by MATLAB simulation.By comparing the basic principles of Dijkstra algorithm and A* algorithm and the MATLAB simulation process,the A* algorithm is selected as the subsequent global path planning algorithm.Through mathematical model construction and MATLAB simulation implementation,DWA algorithm is selected as the subsequent local path planning algorithm.Finally,based on the clear system requirements,the system framework is designed,and the hardware platform and software platform are built.Use the Gmapping algorithm to build a map,conduct experimental tests in the indoor workshop environment,and compare whether the obtained map is consistent with the actual environment.For the map that has been built,use the A* algorithm and DWA algorithm,give the starting point and the target point,and add the interference of static obstacles and dynamic obstacles in the actual environment,through the free path navigation experiment and fixation of the mobile robot The path navigation experiment verifies the effectiveness of the path planning of the system.