Transportation Robot System Based on Gmapping and A* Algorithm
This paper designs an epidemic prevention assistant robot that can complete the transportation of indoor medi-cal goods according to the instructions of medical personnel.The robot is powered by an NVIDIA Tegra X2 computing unit on the back,running the Ubuntu operating system for algorithm design and function development,equipped with a display,keyboard camera and laser radar.The system of this project uses the GMapping algorithm to achieve robot positioning and mapping,and uses the improved A* algorithm and dynamic window method to integrate path planning.The simulation results show that the robot mapping contour is clear,the error is within the allowable range,the noon running track is smooth,and successfully evades pedestrians,which can be applied in the field of transportation robots while ensuring safety.
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维普
