Design And Experimental Research On Navigation System Of Mobile Robot In Hole Environment

As one of the research hotspots in recent years,a mobile robot has a wide range of applications.With the development of technology,the demand for mobile robot navigation in complex environments or terrain is gradually increasing compared with spacious navigation problems in flat terrain or simple application scenarios,and mobile robot navigation problems in hole environments are rarely studied in the industry,but navigation in hole environment is of great significance for environmental exploration,rescue and reconnaissance,and other application scenarios.Firstly,this paper analyzes the problem of mobile robot navigation in the hole environment.For the hole terrain or the terrain with obstacles in the robot’s environment,the robot needs to check the terrain’s trafficability and trafficability conditions,process the depth map and point cloud data collected by the depth camera to obtain the size,orientation,traffic direction and cross-section image of the hole,and then analyze the convex defects of the cross-section of the hole,According to the shape of the hole edge,select the appropriate algorithm to check the trafficability.In this paper,a numerical optimization based algorithm and a grid search based algorithm for calculating the traversability of holes are proposed,which can solve the traversability of target holes and the robot’s passable pose.The characteristics of the two algorithms are analyzed and compared.According to the hole data processing and analysis methods used and the hole traversability algorithm,the navigation and algorithm framework of the robot is designed based on ROS system,and the robot platform and sensor system are built.The path planning algorithm and slam framework of the robot are analyzed and studied.The slam framework based on cartographer is used for localization and mapping,and the delay decision idea of adding a distance threshold is used to improve cartographer,reduce the mismatch rate of mapping and improve the running speed.The navigation system is simulated and analyzed in gazebo environment,and the experimental test is carried out on the robot platform to verify the effectiveness of the hole trafficability algorithm and the improvement of cartographer algorithm.