Research and Application of Robot Path Planning Algorithm Based on ROS

摘要

To solve the problem of autonomous navigation for robot in unknown environment, a mobile robot has been engineered upon the foundation of the Robot Operating System (ROS), exhibiting enhanced navigational competence in dynamic surroundings. Firstly, by analyzing and improving the default global path planning A* algorithm within ROS, the robot has been endowed with superior path planning efficacy in maps characterized by intricate weightings. And then, the D* Lite algorithm was imported into the navigation function package as a custom global path planner in ROS, and the path planning was realized incrementally with heuristic function. On this basis, the global path point list was processed by smooth spline method, and combined with the dynamic window(DWA) local planning algorithm, the move base node can generate more smoother trajectories. Ultimately, the performance of algorithm was simulated and tested using Autolabor simulator, and verified on an independently constructed robot platform. Experimental outcomes indicate that the improved D* Lite algorithm exhibits excellent path replanning capabilities, which effectively solves the navigation problem of the robot in dynamic environments.