Design of Mobile Robot Automatic Navigation System Based on ROS

Abstract

Mobile robot is the key equipment of flexible production system, flexible handling system and automatic storage system. As an important bridge connecting logistics and production, mobile robot can effectively improve the production efficiency of manufacturing enterprises and reduce production costs. Under the background of the close combination of information technology and manufacturing industry, higher requirements are put forward for its automation and intelligence. Aiming at the problem of large error accumulation caused by the existing navigation methods using odometer navigation and GPS navigation technology, this paper takes Turtlebot3-waffle mobile robot as the research object and carries out the research of automatic navigation system. Firstly, the basic motion and attitude are analyzed, and the forward and inverse kinematics models and dead reckoning formulas are established. Then, the core algorithms of map building, autonomous positioning and autonomous navigation are studied, and several simulation environments are established on the ROS simulation platform to verify the algorithms. Finally, an autonomous navigation simulation system is built on the ROS platform, and the laser radar SLAM map based on gmapping algorithm is constructed for the established simulation environment model, and the automatic navigation function is simulated by using the map. In the experiment, the robot successfully planned the corresponding local path and global path and successfully reached the navigation target point, which verified the feasibility and effectiveness of the automatic navigation system. It provides a reference for the research of mobile robot automatic navigation system.