Design and Implementation of Autonomous Mobility Algorithm for Home Service Robot Based on Turtlebot

摘要

To design a home service robot, the Turtlebot robot based on ROS platform is used to achieve the autonomous navigation and obstacle avoidance functions. The result is shown in simulation experiment. During the experiment, to complete SLAM mapping, the Gmapping algorithm is applied. On the other hand, the Dijkstra algorithm is used for global path planning, and the dynamic window algorithm is used for local path planning. Both of them are used to realize the autonomous navigation function. By carrying the depth camera Astra, the robot can autonomous navigate and avoid obstacles in the indoor environment. In addition, by writing scripts, the SLAM mapping process, which originally required manual control, has also been improved to autonomous SLAM without manual control, making it more convenient in practical applications.