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ROS robot local path planning method based on DWA

A technology for local path planning and robotics, applied in the field of dynamic window algorithm and robot local path planning, it can solve the problems of software difficulty, non-extensibility, and the inability of robots to be universal, and achieve the effect of improving effectiveness and feasibility.

Active Publication Date: 2021-02-05
GUANGXI UNIVERSITY OF TECHNOLOGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Although the robot has been researched and developed for many years, there is no uniform standard for the robots produced in the early stage, and many softwares are difficult to transplant and use. The robots produced by different companies cannot be used universally, which is not conducive to the development of robots. It has overcome the shortcomings of traditional service robot software such as poor portability, non-expandability, and poor modularity. It has a unified programming, compiling, and execution environment, and is equipped with visual debugging and simulation tools, and has a large number of library resources that can be called.

Method used

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  • ROS robot local path planning method based on DWA
  • ROS robot local path planning method based on DWA
  • ROS robot local path planning method based on DWA

Examples

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Embodiment 1

[0055] refer to Figure 1 to Figure 5 , as the first embodiment of the present invention, a DWA-based ROS robot local path planning method is provided, including:

[0056] S1: Use robot SLAM mapping to construct a global map and obtain the starting point and target point of the robot.

[0057] S2: In the constructed global map, use the improved ant colony algorithm for global path planning to find the optimal path. What needs to be explained is:

[0058] Set the initial parameters of the ant colony algorithm;

[0059] Use the grid strategy to model the environment map, select the preferred area according to the starting point and the target point to increase the initial value of the pheromone, combine the sum of the distances and the distance ratio between the node and the starting point and the target point to calculate the pheromone Make differential incremental settings;

[0060] Find the optimal path, initialize the taboo table and add the starting point, use the state...

Embodiment 2

[0123] refer to Figure 6 ~ Figure 11 , is the second embodiment of the present invention, which is different from the first embodiment in that it provides a verification of a DWA-based ROS robot local path planning method, including:

[0124] The path planning algorithm is added to the move_base navigation framework in the form of a plug-in in ROS, and the specific steps of implementing the path planning algorithm on the ROS robot in this embodiment include:

[0125] (1) Create an abstract base class and define a unified general interface; ROS supports multiple languages, such as python, C++ and other programming languages. At present, most source files in ROS are written in C++ programming language, and C++ has the nature of inheritance , enabling code reuse. If there is an existing base class to implement the plug-in, there is no need to redefine the class of the path planning algorithm. For example, the nav_core package provides three global path planning nav_core::BaseGl...

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Abstract

The invention discloses an ROS robot local path planning method based on DWA. The ROS robot local path planning method comprises the steps of: constructing a global map through the SLAM mapping of a robot, and acquiring a starting point and a target point of the robot; in the constructed global map, carrying out global path planning by using an improved ant colony algorithm, and searching for an optimal path; when the robot moves along the globally optimal path, using a sensor carried by the robot for detecting local environment information in real time to update map information; judging whether a dynamic obstacle exists or not, and if so, calling a DWA algorithm for local path planning to avoid the obstacle; and after the robot reaches the local target point, enabling the robot continuesto move along the globally optimal path, detecting local environment information continuously in real time, and if an obstacle occurs again, calling the DWA algorithm continuesly for local path planning until the robot reaches the target point. By adopting the ROS robot local path planning method, the obstacle can be successfully avoided, and the distance factor of the evaluation function enablesthe robot to avoid the obstacle and pass through a narrow channel at the same time.

Description

technical field [0001] The invention relates to the technical field of dynamic window algorithm and robot local path planning, in particular to a DWA-based ROS robot local path planning method. Background technique [0002] In the process of the development of intelligent robots, robot autonomous obstacle avoidance planning plays a pivotal role in the field of intelligent robot research. Path planning and autonomous obstacle avoidance capabilities are an important indicator to measure the intelligence of robots. Inferiority directly determines the level of intelligence of the robot. Having autonomous obstacle avoidance and path planning capabilities means that the robot has the ability to move freely, which will greatly improve the work efficiency and mobility of the robot, and is conducive to the application of the robot to more fields. To achieve better autonomous obstacle avoidance and path planning for robots, optimizing path planning and obstacle avoidance algorithms is...

Claims

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Application Information

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IPC IPC(8): G01C21/20
CPCG01C21/20Y02T10/40
Inventor 王智文曹新亮王宇航
Owner GUANGXI UNIVERSITY OF TECHNOLOGY