A ROS-based smooth motion planning scheme for a home service robot

摘要

This paper proposes a ROS-based smooth motion planning scheme for a home service robot in presence of a known map and static obstacles. The smooth motion planning scheme proposed in this paper consists of two parts. In the path planning part, QR code landmarks are combined with the MAKLINK Graph algorithm to generate feasible waypoints. Then those waypoints are smoothly connected using the η <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">3</sup> -splines, so that the curvature and curvature derivative are continuous throughout the generated path. In the second part, a time-optimal velocity profile is computed under the constraints of maximum velocity, kinematic constraints, maximum centrifugal acceleration and maximum acceleration. Finally, the motion planning scheme is implemented based on a three-layer ROS-based Home Information Center architecture, and the planning results validate the feasibility of the proposed method.