The research into methods of map building and path planning on mobile robots

摘要

Mobile robot is an important part of robotics. Along with the rapid progress of science and technology, human society has more and more strong demand for mobile robots. The environment which the robot faces has become increasingly complex, and robots' capability of obstacle avoidance is expected at a higher level of requirements. This paper describes map building and global path planning when the mobile robot moves in a 2D plane. Firstly, the thesis summarizes the methods of map building and path planning on mobile robot and analyzes the advantages and disadvantages of these methods. Secondly, according to the needs of high-accuracy map building and high-performance path planning in practice, we use the method called “Map Forgetting” to increase mapping accuracy and take D <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">*</sup> algorithm to ensure the planning efficiency. Finally, the program architecture from information perception to base controller based on the robot operating system (ROS) is established. We build simulation platform and entity platform based for testing. The experiments show that the mapping accuracy and programming efficiency satisfy design requirements.