| With the progress of robot technology and the continuous improvement of scientific and technological level,people put forward higher requirements for the standard of living,in order to meet people’s needs for a high quality of life,all kinds of intelligent mobile robots appear in people’s vision.In this thesis,SLAM mapping technology and path planning technology involved in mobile robots are studied,which are comprehensively applied to indoor mobile robots to realize the autonomous navigation function of indoor mobile robots.The main research work of this thesis is as follows:Firstly,the layout and structure of the mobile robot chassis are designed,and the kinematic model under the chassis structure is analyzed and solved,and the required motion parameters are obtained.Then coordinate transformation is carried out for each module of the mobile robot,and it is converted to world coordinates for representation,such as lidar data and robot odometer coordinate information.The transformed data information is displayed through the Rviz visual interface.This lays a solid foundation for the subsequent research.Then the SLAM technology of mobile robot,namely simultaneous localization and map construction,was studied.The principles of Gmapping algorithm and Cartographer algorithm widely used under different mathematical frameworks were introduced.Simulation experiments were carried out in Gazebo simulation environment of ROS platform.The optimality of these two SLAM algorithms was evaluated based on the map construction effect and hardware resource occupation.According to the comparison results,the Cartographer algorithm was more dominant.The Cartographer algorithm was initially proposed as the SLAM mapping algorithm for mobile robots in this paper.The shortcomings of Cartographer algorithm are also discussed.Then the path planning algorithm of mobile robot is studied and the content of path planning is divided into global path planning and local path planning.Dijkstra algorithm and A* algorithm,which are widely used in global path planning,are elaborated on their principles,and their planning effects are compared through simulation experiments.Finally,A* algorithm is selected as the global path planner according to comprehensive evaluation.Then,the dynamic window(DWA)algorithm of the local path algorithm is studied.First of all the dynamic obstacle avoidance effect is verified by experiments,and then the key parameter setting rules are studied.The influence of each parameter on the local path planning is obtained,and the parameter setting rules are determined.Finally,the software and hardware environment required for the mobile robot to move in the real environment is built,and the SLAM algorithm and path planning algorithm are actually verified,and the feasibility of improving the Cartographer algorithm is verified.Finally,the comprehensive application of these algorithms is carried out to realize the automatic navigation technology of indoor mobile robots. |
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