Research on Path Planning of Mobile Robot Based on Dynamic Environment

摘要

Simultaneous Localization and Mapping (SLAM) and autonomous path planning, which is an important part of intelligent mobile robot research. In order to improve the robot's capability of path planning in dynamic environment, this paper studies the path planning of robot based on laser slam in dynamic scene. Firstly, the sensor carried by the mobile robot is used to obtain the change of the pose and state of the mobile robot, and the Cartographer algorithm based on graph optimization is used to map the indoor environment of the ROS mobile robot. In order to realize the function of dynamic path planning, in the part of global path planning, the current global path planning methods are compared, and the Dijkstra and $\mathrm{A}^{\star}$ algorithms based on graph search are analyzed respectively, and the optimal navigation algorithm is selected; in the part of local path planner, the classic The proposed DWA algorithm, and in view of the problem that the DWA algorithm cannot perform dynamic obstacle avoidance in a small area, it is proposed to combine the Bug2 algorithm to improve.