Design and Simulation of Tracked Mobile Robot Path Planning

Abstract

Aiming at the problem of autonomous navigation of robots in unknown environments, the robot operating system ROS is used as a development platform, and an autonomous navigation system is designed based on open source function packages such as Gmapping and Navigation, so that robots equipped with this system can learn map information in unknown environments. And based on the map to achieve positioning, path planning, obstacle avoidance and other functions. The 3D physical simulation software Gazebo simulates the environment and loads the designed URDF robot model to simulate and verify the autonomous navigation system. The results show that the autonomous navigation system can enable the robot to achieve accurate mapping, positioning, real-time obstacle avoidance and path planning in an unknown environment.