Research on Motion Planning System of Service Robot Based on ROS

摘要

In view of the mobile service robot, a motion planning scheme was implemented based on ROS. Initially, the architecture of the system was introduced, which includes the module of planning-SMACH, the function module, the visual display module-RViz and the storage module designed to save the motion planning results of manipulator and chassis, and also, the function module is made up of four parts, which are the M_target_pub, the N_target_pub, the MoveIt! and the Navigation. Then, a simplified robot description file-URDF was derived by using the plugin of sw2urdf in SolidWorks. Finally, the finite state machine was built with SMACH in ROS, which integrates the motion planning of the manipulator and the chassis. As an example, a simulation experiment was carried on the 6-DOF mobile service robot with two arms. The results show that the robot can accurately target a task, reach the specified position and save the planning results, which will lay a solid foundation for the following study of motion controlling about the robots.