Author(s)

Hongkai Gu ¹, Zhiwei Wang ¹, Chenxi Ouyang ¹

Affiliation(s)

¹ School of Mechanical & Power Engineering, Harbin University of Science and Technology, Number 52 Xuefu Drive, Harbin, China

Corresponding Author

Hongkai Gu

ABSTRACT

As the COVID-19 pandemic continues, people are realizing that efficient distribution of supplies can greatly improve work efficiency and reduce unnecessary conflicts, thus solving the problem of delivering goods to isolated locations. This paper studies the problem of robot autonomous map construction and path planning in the indoor corridor environment based on ROS. Gmapping-SLAM algorithm is selected as the robot mapping algorithm, A* algorithm is selected as the global path planning algorithm, and DWA algorithm is selected as the local path planning algorithm. Simulation experiments of autonomous map building and path planning are carried out. Therefore, the rationality of the above algorithm applied to indoor corridor environment is verified.

KEYWORDS

ROS, Gmapping-SLAM, A*star algorithm, Dynamic window approach algorithm

CITE THIS PAPER

Hongkai Gu, Zhiwei Wang, Chenxi Ouyang, Research on the Navigation System of Indoor Supplies Delivery Robot Based on ROS. Computing, Performance and Communication Systems (2023) Vol. 7: 12-23. DOI: http://dx.doi.org/10.23977/cpcs.2023.070103

REFERENCES

[1] Di Wang, Guan Li, Teng Yu & Renshi Li.(2021).Research and simulation of mobile robot Navigation System based on ROS. Journal of North China Institute of Science and Technology (04), 54-60. 
[2] Wenzhi Liu. (2018).Research and implementation of SLAM and path planning algorithm based on lidar [D].
[3] Dengxiang Chang. (2019).Research on autonomous navigation of driverless cars based on ROS (Master's Thesis, Hunan University).
[4] Haojie Wang, Xianghua Ma, Wanyu Dai & Wuxuan Jin. (2023).Research on Obstacle avoidance of mobile robot with improved DWA algorithm. Computer Engineering and Applications (06), 326-332.

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