To effectively improve the autonomous navigation performance of mobile robots and reduce the difficulty of developing functional modules,this paper takes the two-wheel differential composite mobile robot as the research object,and designs an autonomous navigation experimental platform of the composite mobile robot based on the robot operating system(ROS)framework according to the principle of modularization and layering.Through the Cartographer algorithm based on graph optimization,the mapping and positioning function of the composite mobile robot is realized.A variety of path planning algorithms are designed to realize the autonomous navigation and obstacle avoidance of robots.The results show that the composite mobile robot system can construct a two-dimensional map in an unknown environment and realize real-time path planning according to the cost map,which meets the development and verification needs of different autonomous navigation algorithms.
关键词
移动机器人/机器人操作系统/路径规划/自主导航
Key words
mobile robots/robot operating system(ROS)/path planning/autonomous navigation
维普
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