Research On Autonomous Mapping And Navigationg Of Mobile Robot Based On ROS

In recent years,with the development of science and technology,people’s demand for mobile robots is increasing,and it also puts forward higher requirements for mobile robots in terms of intelligence and motor performance.In order to improve the development efficiency of mobile robot and its motion performance in complex environments,this paper designs and builds a mobile robot platform based on the ROS operating system,focusing on the two key technologies of mobile robot autonomous positioning and mapping and navigation and obstacle avoidance.The main research contents are as follows:(1)Based on the ROS distributed framework,the selection of the hardware required for the mobile robot is studied,and the hardware and software of the robot are integrated to complete the construction of the mobile robot platform.According to the communication mechanism of ROS,complete the communication between the remote PC terminal and the mobile robot.The simulation model was also constructed in the ROS environment to provide a research platform for subsequent experiments.(2)In order to improve the accuracy of the autonomous positioning mapping algorithm of mobile robots,the sensor-assisted method is used to eliminate the motion distortion of lidar and improve the accuracy of radar data.Robot kinematic model and track calculation model are established to study the localization problem of robot mapping process.By studying the model-based method,the calibration of the robot odometer is realized,thus improving the accuracy of the robot positioning process.Finally,the mapping process of Gmapping algorithm and Cartographer algorithm is studied and analyzed,and the two mapping algorithms are compared.(3)We study the security performance and path length of A * algorithm in the global path planning,including the security threat cost function to ensure the security performance of the planned path.Redundant turning points in the path were removed by calculating whether the path between each turning point passed through obstacles.Based on the geometric optimization principle,the smoothing processing model is established to reduce the sharpness of the path turning point.Finally,the modified A * algorithm is validated in the MATLAB simulation platform.At the same time,the dynamic window method of robot local path algorithm are analyzed.(4)The performance test of mobile robots in real scenarios is mainly for the drawing and navigation experiment of mobile robots in complex horizontal cross channel environment.After simulation experiment and real test,the motion performance of the designed mobile robot platform is verified in complex horizontal cross environment.