Design And Implementation Of Path Planning For Indoor Mobile Robot

With the progress and innovation of science and technology,robot technology is also constantly developing,and mobile robots have become an indispensable role in people’s life.Mobile robot can perceive the environment,and planning the optimal path to achieve autonomous navigation is an important embodiment of its intelligence.Fast planning of safe and optimal path is an effective means to improve the working efficiency of robot,which reflects the urgency and necessity of path planning technology in the field of robot research.This paper focuses on the design and implementation of path planning for mobile robots in indoor environment.The specific contents are as follows.Firstly,based on the principle and motion law of Mc Namm wheel,the forward and inverse kinematics models of the mobile robot are established.The reference coordinate system of mobile robot is constructed,the scanning model is established based on the principle of laser radar ranging,and the grid map is selected for environment modeling.Secondly,the pose estimation and map construction of the mobile robot are studied.The pose estimation of the mobile robot based on the information collected by a single sensor will lead to large errors.The more accurate pose estimation of the mobile robot is obtained by fusing the information of multiple sensors with the extended Kalman filter.By comparing and analyzing two commonly used algorithms of Simultaneous location and mapping(SLAM)of Gmapping and Cartographer,the Cartographer algorithm with high mapping quality is selected to build the environment map.Then a path planning algorithm based on global and local information fusion is proposed.In the global path planning,the Jump Point Search(JPS)algorithm is selected and the heuristic function is improved.The turning point extraction optimization path strategy is introduced.The improved algorithm focuses on both sides of the final path,reducing the search of useless nodes,shortening the search time,and the length of the planned path is shorter and the turning angle is smaller.In local path planning,its parameters are optimized based on Dynamic Window Approach(DWA),and the global turning point information is introduced into the trajectory evaluation function.The improved JPS algorithm and DWA algorithm are combined to build a new path planning framework,which enables the robot to efficiently search for a better path and effectively avoid unknown obstacles that suddenly appear in the path.Finally,based on ROS(Robot Operating System),Mc Namm wheel mobile Robot is built,indoor experimental environment is built,and grid map is built using Cartographer algorithm.According to the constructed grid map,the fusion path planning algorithm is compared.Experiments show that the proposed fusion path planning algorithm can make mobile robots search for better paths efficiently,and can effectively avoid unknown obstacles in the path.