Research On Path Planning Of Mobile Robot Based On ROS

Since the 21 st century,along with the development of artificial intelligence technology and the rapid advancement of industrial automation,intelligent mobile robots have played a pivotal role in intelligent production,smart cities,intelligent services and scientific research.However,with the rapid development of robot technology,the new robot positioning and mapping technology,the progress of path planning algorithm,as well as different usage requirements and different application scenarios,more professional and detailed requirements are put forward for our mobile robot platform.In this thesis,a four-wheel-drive Mecanum wheel omnidirectional mobile robot is designed based on the Robot Operating System(ROS),according to the requirements of practical application scenarios,and an improved Dijkstra global path planning algorithm is implemented to combine with the mobile robot to carry out experiments on localization map building,path planning,and autonomous navigation in complex environments,which proves the effectiveness of the improved path planning algorithm and the stability of the mobile robot The effectiveness of the improved path planning algorithm and the stability of the mobile robot platform were demonstrated.In this thesis,the mobile robot system analysis and hardware design work have been carried out.Firstly,the positional relationship between the mobile robot coordinate system and the world coordinate system is analyzed,and the robot kinematics model is established.Secondly,according to the overall design principles and technical requirements of the robot,the overall scheme of the robot is designed,and the task of designing the robot body is completed.Further,according to the overall design requirements of the robot control system,the hardware selection,circuit design,and DC motor drive design of the robot’s upper and lower computer controllers have been completed.Finally,sensor information acquisition systems such as robot lidar and binocular camera are designed.This thesis completes the work on the software design of the mobile robot based on ROS.In this thesis,Nvidia Jetson nano is used as the upper computer controller of the robot,and STM32 series microcontroller is used as the lower computer controller.Based on the robot operating system,the software design of the robot control system is carried out.According to the overall requirements of robot control system programming,tasks such as robot controller programming task allocation,DC motor drive design,controller communication module programming,and robot remote control have been completed.Finally,in order to make the mobile robot platform have better applicability to the working environment,a variety of localization building algorithms are designed in ROS,and the most ideal localization building algorithm is invoked according to the robot hardware performance,which greatly broadens the robot’s applicability scenarios and effectively improves the overall robot performance.In terms of path planning algorithm,this thesis carries out the research work on improving Dijkstra global path planning algorithm for the shortcomings of traditional Dijkstra global path planning algorithm,such as more search nodes,longer search time and more turning points.In this thesis,we propose an optimization algorithm for screening key nodes in the original path,which effectively reduces the path search nodes and shortens the path length.At the same time,the path generated by screening the key path points still has a large turning angle and the path is not smooth,so this thesis then proposes the optimization method of smoothing the path with higher-order Bessel curves,and finally plans a smooth path.To test the enhanced Dijkstra algorithm’s efficiency and superiority,this thesis conducts simulation experiments comparing it with the original Dijkstra algorithm a nd A* algorithm.The results demonstrate that the improved Dijkstra algorithm signi ficantly optimizes path nodes,lengths,turning angles,etc.It is a reliable and efficie nt global path planning method.Finally,based on the designed mobile robot platfor m,the improved Dijkstra global path planning algorithm is combined with the dyna mic window method to conduct multi-environment path planning and autonomous n avigation experiments to verify the feasibility of the improved Dijkstra algorithm an d the reliability and stability of the mobile robot platform designed in this thesis.