Research On Path Planning Algorithm Of Mobile Robot Based On ROS And Its Application

With the rapid development of robot technology,mobile robots have gradually penetrated into many aspects of human life.The development of navigation technology determines the application value of mobile robot.As the key links of navigation,synchronous positioning and mapping and path planning technology are gradually becoming the focus of robot technology research;Secondly,the establishment of the platform lays the foundation for the development of technology and improves its value in the application field.This paper focuses on the construction,mapping technology,path planning technology and practical application technology of mobile robot platform.The main research work includes the following aspects:(1)The ROS(robot operating system)control system is designed.Firstly,the overall framework is built and the sensing equipment is selected;Secondly,the gmapping algorithm is used to construct the two-dimensional map,which provides the basis for the navigation experiment;Finally,the communication program and control protocol are designed to make the ROS control system communicate with the motion control system normally.(2)For the design of motion control system,firstly,the overall motion system framework is designed;Secondly,the hardware materials are selected,and the connection mode with the main control board is designed;Then the kinematics model of mobile robot is analyzed;Finally,the overall program of the main control board and the speed closed-loop control program are designed.(3)Aiming at the problems of low search efficiency and many inflection points of random road marking algorithm in global path planning of mobile robot,a two-way random road marking algorithm is proposed.Firstly,the rules of node collision are improved to search the path alternately from the positive and negative directions,which improves the search efficiency;Secondly,simulation experiments show that the improved algorithm is optimized compared with the traditional algorithm in search efficiency and the number of turning points;Finally,the algorithm is verified by real mobile robot navigation experiments,and the experimental results are analyzed to verify that the improved algorithm is more practical.(4)Aiming at the inconvenience of mobile robot hardware operation and algorithm testing,a practical application based on Android platform is designed.Firstly,the overall frame structure is designed and analyzed;Secondly,according to the communication mode between Android and ROS system,the operation page of the control terminal is designed;Finally,the function of synchronous positioning and mapping and the navigation experiment of two-way random road marking algorithm are displayed on the Android interface.