Research on path planning of family nursing robot based on robot operating system

摘要

Aiming at the problem of indoor navigation of family nursing robot, this paper proposes a dynamic window algorithm that the service robot could plan the optimal path autonomously and realize the obstacle avoidance quickly in the indoor dynamic environment. Firstly, the basic principle of the dynamic window method is introduced, and then the navigation system of the service robot's indoor dynamic environment is built in the robot operating system framework by this algorithm. According to the established map of indoor grid environment, the system collects information about the destination that the user inputs, then using the dynamic window algorithm, service robot could avoid dynamic obstacles accurately in dynamic indoor environment and independently arrive the destination quickly through the optimal path of autonomous planning. Finally, the effectiveness of the proposed method is verified by experiments.