SLAM Technology And Path Planning Algorithm For Wheeled Inspection Robot

Since there is a large flow of people in subway station hall,the regular safety inspection is an important means to ensure the safety of the site.Aimed at the actual inspection requirements from subway station hall,the autonomous positioning and navigation system for inspection robot based on lidar is independently designed in this paper and the following aspects are studied.Firstly,according to the inspection requirements in subway station hall,the paper designs a systematic general plan for inspection robot and sets up the hardware platform and software platform for the robot in accordance with the general plan.Besides,the paper establishes the coordinate system of inspection robot positioning and navigation system,the chassis kinematics model and the environment map model.Secondly,this paper carries out an in-depth study and simulation verification of SLAM(Simultaneous Localization and Mapping)technology.In the paper,the SLAM algorithm based on filtering and graph optimization and the simulation model and simulation environment are introduced in detail.Moreover,the mapping environment of Gmapping algorithm and Cartographer algorithm are compared in the simulation environment.Then,the path planning algorithm is deeply studied and verified by simulation in the paper.The processes of theoretical deviation of A* algorithm and DWA algorithm are given.Faced with the defects of the planning path of traditional A* algorithm,including the long search time and many inflection points,the paper improves the path search efficiency and reduces the path inflection points by adding weight coefficient and expanding child notes to increase inflection point optimization.On the basis of the simulation environment and the simulation environment map,the path planning algorithm is simulated and verified.Finally,in the paper,the built inspection robot is used as the test platform to verify the SLAM algorithm and path planning algorithm in the real environment.This paper makes a contrast of the mapping effect of Gmapping algorithm and Cartographer algorithm in the large scene environment of underground garage;in the corridor environment,this paper conducts experiments on the autonomous positioning and navigation system of the inspection robot to test the real-time obstacle avoidance and measure the navigation and positioning error.After that,in the real subway station environment,this paper tests and verifies the autonomous positioning and navigation system of the inspection robot.