Indoor Top Mobile Service Robot Based on Improved RRT Algorithm

摘要

An indoor top mobile service robot based on the improved RRT algorithm is proposed. The robot is mainly composed of a lifting truss platform and a manipulator, which avoids the mapping and positioning of complex ground and obstacle avoidance planning. At the same time, the kinematics analysis of the manipulator is carried out. In view of the function of obstacle avoidance planning when the manipulator completes the task, the traditional RRT algorithm is improved to overcome the shortcomings of the low efficiency of path planning in the traditional RRT algorithm, and the planned path quality is uncertain and not smooth enough. The simulation environment is built based on ROS platform to verify the feasibility of the algorithm. To a certain extent, it improves the autonomy of robots to complete tasks.