Research Of Path Planning Based On Navigation Robot And Design Of Software System

With the rapid development of economy and robot technology in our country,service robots play an irreplaceable role in people's daily activities more and more.In particular,the navigation robot in the service robot plays a more and more important role in museums,art galleries and other occasions.The good performance and the technology novel navigation robot not only can reduce the staff's burden greatly in the pavilion,but also plays the important role to the Enhancement exhibition hall overall science and technology level,as well as attracts the visitor attention,enhances the visitor quantity and so on.Aiming at the design requirement of navigation robot,this thesis mainly studies some key technologies of navigation robot to improve the stability and intelligence of navigation robot.This thesis makes a detailed research and introduction on the design of robot's next machine,Robot path planning(global path planning and Local path planning),navigation interface and remote control interface in laboratory.In MATLAB and Ros simulation system,the path planning is simulated and the results are satisfactory.The design of path planning and navigation interface are the focus of this subject.Relying on the major science and technology innovation project of Shandong Province "industrial robot controller Multi-protocol modular coexistence and software warehouse application"(Serial Number:2017cxgc0908),this thesis firs researched the status of navigation robot at home and abroad,did a detailed introduction to the ROS system,based on this hardware.The navigation robot of this thesis is a kind of autonomous mobile robot developed by the laboratory as the next machine,and the robot is introduced in detail.It includes the body structure design of the robot,and the composition of each device in the lower-machine circuit system.Based on this hardware,the research of Path planning and the design of navigation interface are carried out.In this thesis,the ant colony algorithm is used as the global path planning,and the artificial potential field method is used as the local path planning.For ant colony algorithm,it is mainly to analyze the relevant parameters and select the appropriate initialization parameters.For the artificial potential field method,the improvement of the target unreachable and local stability in the traditional algorithm is made,and the improved artificial potential field method is simulated by MATLAB to verify the feasibility of the algorithm.According to navigation requirements,this thesis programed,the remote control interface and navigation interface with C++programming design.Using ROS to build 3D simulation environment,then the ant colony algorithm and the artificial potential field method are introduced into the navigation function package to verify the feasibility of the algorithm.Finally,the algorithm is introduced into the robot in this teaching room and tested under different conditions to verify the obstacle avoidance performance of the algorithm under dynamic or static obstacles under different conditions.