Path Planning and Autonomous Navigation Algorithm of Intelligent Robot in Aviation Service

摘要

This paper aims to study the path planning and autonomous navigation of aviation service robot in airport environment, and proposes a set of solutions based on improved A* algorithm and SLAM technology of lidar. Aiming at the actual demand of aviation service robot, this paper first analyzes the design principles of path planning algorithm, and on this basis, proposes an improved A* algorithm with dynamic weight adjustment mechanism. The algorithm enhances real-time performance and accuracy in intricate environments by dynamically adjusting path cost weights. Concurrently, it employs a SLAM autonomous navigation algorithm utilizing lidar for precise robot positioning and autonomous navigation in unfamiliar surroundings. To validate the algorithm's effectiveness, a simulation platform utilizing ROS (Robot Operating System) and Gazebo is constructed. Various airport environment scenarios are simulated to assess its performance. Results demonstrate the algorithm's capability to swiftly plan safe and efficient paths across diverse scenarios, enabling precise autonomous navigation. Compared with traditional algorithms, this algorithm has obvious advantages in real-time, accuracy and adaptability.