Research And Application Of Path Planning Algorithm For Indoor Mobile Robots Based On ROS

With the rapid development of productivity and intelligent technology,the application of mobile robots in fields such as production and manufacturing,medical services,warehousing and logistics is becoming increasingly common.Path planning,as a core technology in various fields of mobile robot applications,still faces problems of low operating efficiency and tortuous paths in narrow indoor environments.Therefore,this article studies and applies path planning technology based on omnidirectional autonomous mobile robots in indoor factory.The specific work is as follows:Firstly,a mobile robot path planning system was constructed.The motion model of the mobile robot chassis,the trajectory estimation model,and the laser radar model were studied.The overall design scheme of the indoor path planning system based on the Robot Operating System(ROS)was introduced.Secondly,the global path planning algorithm in indoor was studied and improved.The advantages and construction methods of the grid map used for path planning in the global environment were introduced,and improvements were made to address the problems with the A* algorithm in global planning.The efficiency of the algorithm was improved by increasing the node search domain from 3x3 to 4x4 and considering the complexity of the environment in the evaluation function of the A* algorithm.The redundancy nodes were removed from the path,and the turning points were processed using Bezier curves to make the planned path smoother.Comparative experiments were conducted in Gazebo to ensure the efficiency and accuracy of the improved global path algorithm.Then,the dynamic window approach(DWA)was used as a local path planning algorithm,which was integrated with the A* algorithm to solve the problem of the A*algorithm not conforming to the motion laws of mobile robots,inability to perform dynamic obstacle avoidance,and poor globality of the DWA algorithm.Optimization and simulation experiments were conducted to address the issues of detouring,getting stuck in local optimal solutions,and difficulty in passing through narrow terrain.Simulation results showed that the improved fusion algorithm conforms to the motion laws of mobile robots,and the trajectory is smoother,making it possible to pass through narrow terrain.Finally,an ROS mobile robot experimental platform was built to test the path planning algorithm.Place obstacles in the indoor environment,control the movement of the ROS mobile robot,scan environmental data to construct a map,and conduct comparative experiments on the improved algorithm and traditional algorithms in this map.The results showed that the improved A* algorithm has high efficiency and accuracy in indoor environments.The improved fusion algorithm has strong ability in narrow terrain and smoother trajectory.It can monitor the environment in real-time,avoid unknown obstacles,and maintain global optimality of the trajectory.