Path Planning Of Mobile Robot Based On ROS

With the rapid development of society and technology,the use of robotic technology is more and more extensive.As an important branch of robot family,mobile robot plays an indispensable role in assisting human beings to accomplish tasks.Therefore,it is very meaningful to study how the mobile robot can help the human to complete the work more effectively.Path planning is one of the most important research directions of mobile robots.Since the advent of path planning,it is a hot and difficult point.The goodness of path planning algorithm will directly affect the time and efficiency of robot work,so a good path planning algorithm is very important.As ROS system has the characteristics of open source,real-time,high code reuse,so the path planning algorithm of robot under ROS platform has certain theoretical and practical significance.In this thesis,the path planning algorithm,including the global path planning algorithm and local path planning algorithm were studied.In the global path planning,the classical path planning algorithm Dijkstra and A*algorithm are studied firstly.Then,the problems of the heuristic function problem,search strategy problem and path turning point existing in the A*algorithm are improved.The heuristic function problem is introduced to improve the heuristic function and the evaluation function;the search strategy is adjusted to avoid the dangerous situation of the robot in the search process,and the smoothness of the problem is proposed for the turning point of the path And MATLAB simulation experiments are carried out.In the local path planning,the obstacle avoidance effect of DWA algorithm is studied and MATLAB simulation experiment is carried out.At last,the ROS platform is built and the robot model is built in the ROS platform.Some motion and keyboard control experiments are carried out by using the model.Then the navigation framework of the path planning is configured and the path planning experiment is carried out using the mobile robot.The experimental results show that the improved path planning algorithm A*global smoothness properties in the search time,search path security and turning point on the path has been greatly improved;the DWA algorithm used in local path planning and obstacle avoidance effect is better in the local path planning,path planning and experiment in the ROS platform has achieved satisfactory results,verify the feasibility and effectiveness of the algorithm.