Research and Simulation of Hospital Service Robot Navigation System Based on ROS
This paper proposes a service robot autonomous navigation scheme suitable for complex and dynamic obsta-cle environments in hospitals,addressing the issue of patients being unfamiliar with the hospital environment.Firstly,create a robot model and set up the simulation environment required for the experiment on the Gazebo simulation platform.Then use SLAM mapping technology and LiDAR in the simulation environment to construct a two-dimensional grid map of the simula-tion environment.Finally,using the navigation function package in ROS for path planning,the robot is able to move to its destination.The global path planning algorithm selected the D*Lite algorithm,which is suitable for dynamic environments and has the ability to efficiently replan paths,meeting the needs of complex environment navigation in hospitals.
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