Research On Book Inventory Robot Navigation System Based On ROS

At present,most of the book inventory work in the library is completed by manual inventory,which leads to inefficient and time-consuming work.This paper proposes a book inventory robot based on ROS,which can automatically navigate and move to the target shelf for book inventory.The use of mobile navigation robot technology instead of traditional manual methods for book inventory can not only effectively improve the efficiency and accuracy of book inventory,shelving and positioning in the library,but also improve the degree of library automation to build a high-quality intelligent library.So the book inventory robot has important research and application value.The implementation of the book inventory function of the robot for book inventory can be achieved directly using the most mainstream RFID technology.This paper will focus on the implementation of the robot’s autonomous navigation technology based on the Robot Operating System(ROS).Because the library site has larger area,more obstacles,and more complex environment than other scenes that are applicable to mobile navigation technology,and the navigation tasks to be performed include both single-task target navigation and multi-task target navigation,resulting in greater difficulty in the implementation of navigation functions and higher accuracy requirements,so the current commonly used navigation technology cannot be directly applied,and specific optimization is required.This paper will focus on the composition of the navigation system of the book inventory robot,multi-sensor data processing and fusion,indoor positioning and map construction,as well as the realization of path planning and obstacle avoidance navigation functions,and optimize and combine the commonly used path planning algorithm A * and ant colony algorithm to make the navigation system suitable for the task and accuracy requirements of the book inventory robot.The main research contents of this paper are as follows:First,study the data processing and fusion of multi-sensor;Acquire and process the data of IMU,Hall encoder,lidar and other sensors,and use the unscented Kalman filter algorithm for multi-sensor data fusion to reduce the environmental error and improve the accuracy of position and attitude measurement.Second,study the positioning of navigation system and the creation of electronic map;The principle of SLAM is studied and the cartographer algorithm based on graph optimization is used to realize real-time location and construction of environmental electronic map.The simulation experiments of Cartographer and Gmapping algorithms are carried out for verification and comparison.Thirdly,study the path planning and obstacle avoidance navigation of the navigation system;Research and optimize A * algorithm and ant colony algorithm,and study the realization of path planning for single task and multi-task target points,and study the navigation and obstacle avoidance of dynamic obstacles based on DWA algorithm.Fourth,build the hardware structure of the book inventory robot navigation system,and realize the integration and debugging of various codes of the navigation system based on ROS.Conduct the robot single-task and multi-task target point navigation in the library site respectively.The experimental results show that it can meet the functional requirements of the book inventory robot navigation system.