Design of Autonomous Navigation and Obstacle Avoidance System for Rovers Based on ROS

摘要

The Autonomous Navigation and Obstacle Avoidance System for Rovers is primarily implemented based on ROS (Robot Operating System). This simulation system enables the rover to autonomously perceive its environment, plan paths, and navigate to its destination while conducting extraterrestrial celestial exploration and survey missions. This system comprises four modules: localization, mapping, planning, and control. We have developed global path planning algorithms and obstacle avoidance planning algorithms suitable for extraterrestrial environments. This provides rovers conducting extraterrestrial celestial patrol detection missions with a novel navigation and obstacle avoidance simulation system equipped with autonomous capabilities.