Path Planning Algorithm of Indoor Mobile Robot Based on ROS System

Abstract

With the rapid development of global science and technology, robots have been widely used in industry, agriculture, service industry and other fields, among which the demand for mobile robots is rising. This paper takes indoor mobile robot as the research object, starts from the perspective of global and local planning respectively, and optimizes the design principle and design theory of the path planning algorithm in the robot navigation system, and proposes the global path planning algorithm based on the improved A* algorithm and the local path planning algorithm based on the improved artificial potential field algorithm. On this basis, in the case that any single planning algorithm cannot meet the requirements of operation in complex indoor environment, a hybrid path planning algorithm based on static global optimization and dynamic real-time local optimization is proposed, and the two improved algorithms are configured on the actual robot platform to achieve accurate obstacle avoidance and fast path finding theoretical verification of indoor mobile robots. The hybrid planning algorithm was verified by simulation experiment with MATLAB tool, and the effectiveness of the improved algorithm was verified. The indoor mobile robot ROS experiment platform was built to verify the hybrid optimization of the two improved algorithms, which has certain effectiveness and advantages for the dynamic real-time path planning of the actual robot indoor complex environment.