Research On ROS-based Path Planning Of Disinfectant Robot

As the core content of mobile robot research,path planning technology and obstacle avoidance technology of mobile robots have always been the research hotspots of industry scholars.Especially in the context of the large-scale spread of the new coronavirus in the past two years,people have put forward higher technical requirements for disinfection robots that can replace medical staff for non-contact work.Low path smoothness,long planning time,and large consumption of computing resources are a major pain point of current path planning technology,which makes it difficult for robots to plan a safe and reliable driving path in the environment.Therefore,based on the sterilizer robot built by the ROS development platform,this paper carries out the research of path planning algorithm based on algorithm fusion,and the main research content is as follows:(1)Build the software and hardware system framework of the disinfection robot.The hardware system mainly studies the two modules of the disinfection robot: the external device module and the sensor module.The software system mainly studies the ROS system architecture,communication mechanism and designs the graphical user interaction interface,and finally describes the coordinate relationship maintained in ROS in detail.(2)The global path planning algorithm of Jump Point Search(JPS)has the problems of insecure preprocess rules and long path searching time.The one-way search in the traditional algorithm is improved to the two-way alternating point search.At the same time,in order to improve the smoothness of the path,an optimization method based on B-spline curve is proposed to optimize the path smoothness.The experimental results show that the improved JPS algorithm reduces 73.93% in the number of traversing nodes and 26.53% in the number of optimal inflection points,which verifies the feasibility of the proposed algorithm.(3)The differential wheel motion model of disinfection robot is studied,and the minimum linear multiplication method is proposed to calibrate the internal and external parameters of wheel odometer.The traditional DWA(Dynamic Window Approach)algorithm is lack of foresight,easy to fall into U-shaped obstacles and generate non-global optimal path,so an improved heuristic DWA algorithm is proposed.This algorithm combines with the global path information provided by the improved JPS algorithm to jointly output the local path and realize real-time planning and dynamic obstacle avoidance.(4)Build a disinfection robot prototype and conduct relevant experimental verification.The experimental results show that the accuracy of the calibrated wheel odometer is improved by 51.93% and 21.90% in the X and Y directions respectively compared with that before calibration;Meanwhile,the planning time and path length are improved.The DWA algorithm fused with global path information can avoid obstacles in time when facing U-shaped obstacles,avoid falling into the local optimal situation,and at the same time,the global path fitting in X and Y directions is improved by more than 50%.Therefore,the disinfection robot can carry out the planning operation more stably and the driving route is more reasonable.