System Design And Autonomous Navigation Of Tracked Mobile Robot Based On ROS

Tracked mobile robot is more and more popular with the progress of the times.Compared with wheeled robots,tracked mobile robots have the advantages of low contact ratio,large load capacity and good control performance,which are widely used in field rescue,outdoor exploration,special transportation and other tasks.It is of great significance to design a tracked mobile robot with environment map modeling,path planning and navigation and trajectory tracking motion control.As a new robot development tool,ROS robot operating system can realize the rapid development of robot.It is characterized by high versatility and strong scalability.Through parameterizing the robot model by software,it can improve the reuse rate of code.On the basis of this platform,combined with SLAM synchronous positioning and map generation technology,path planning technology,the robot can move autonomously,which greatly improves the intelligence of the robot.Therefore,this paper studies the system design and autonomous navigation of tracked mobile robot under ROS robot operating system.The research content of this paper includes the following aspects.Aiming at the modular design and reuse of software function package of tracked mobile robot,the entire design frame of the tracked mobile robot is created on the basis of the ROS development platform,the overall structure scheme and the motion control system of the robot are confirmed.Aiming at the motion control problem of tracked mobile robot,the kinematics and dynamics model of tracked robot is established,the trajectory tracking error in the process of motion is analyzed,and the motion controller of the robot is designed by combining feed-forward and feedback compound control.The simulation experiment of robot motion curve tracking verifies the effectiveness of the controller design.Aiming at the search neighborhood limitation of the traditional A* global path planning algorithm,the neighborhood search space is extended and improved,and the optimal extended neighborhood under the condition of path length and time scale is found through experimental simulation.At the same time,according to the motion characteristics of tracked mobile robot,the evaluation function of A* algorithm is redesigned to reduce the turning point of path and increase the motion stability of tracked mobile robot Slippery.Combining DWA algorithm and improved A* algorithm,dynamic path planning is carried out.In order to meet the requirements of rapid robot development,a physical system model of tracked mobile robot based on ROS navigation stack is established in the environments of Gazebo and Rviz to simulate the environment mapping and autonomous navigation functions of the robot.Design experiments to verify the improved path planning algorithm,and complete the path planning and autonomous navigation of tracked mobile robot based on ROS design.