Design of Autonomous Navigation Robot Based on ROS System

Abstract

Positioning navigation is a key technology for mobile robots to achieve autonomous navigation and precise positioning. Through the positioning and navigation system, the mobile robot can obtain its own position and attitude information in the environment, and perform path planning and action execution based on this. This article analyzes and uses the robot Gmapping mapping algorithm based on ROS (Robot Operating System); Introduce the positioning and navigation function package node relationship in the ROS system; Conduct matlab simulation and comparative experiments on the A-star global path planning algorithm, and introduce the running process of the DWA (Dynamic Window Approach) local path planning algorithm. Experiments are conducted in the experimental classroom, mainly by calling the Gmapping function package and Navigation function package in the ROS system to construct raster maps and position navigation. The experiment has initially completed mapping and positioning navigation functions. The experiment has initially completed the mapping and positioning and navigation functions.