Author(s)

Juntao Li ¹, Zhiwei Wang ¹, Wenjie Yang ¹, Hao Zhang ¹

Affiliation(s)

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

Corresponding Author

Juntao Li

ABSTRACT

With the outbreak of the new crown epidemic, in order to better solve the meal delivery problem in isolation wards. In this paper, we investigate the autonomous map building and path planning of indoor meal delivery robot based on ROS. The Gmapping SLAM algorithm is selected as the map building algorithm of the meal delivery robot, while the A algorithm is selected as the global path planning algorithm of the robot, and the DWA algorithm is used to complete the autonomous obstacle avoidance of the robot, and the simulation experiments of autonomous map building and path planning are carried out separately, and the results of the experiment. show that the above algorithms can be applied to the autonomous map building and path planning of the meal deliver. 

KEYWORDS

ROS, Gmapping-SlAM, A*star algorthim, Dynamic window approach algorthim

CITE THIS PAPER

Juntao Li, Zhiwei Wang, Wenjie Yang, Hao Zhang, Research on Autonomous Mapping and Path Planning of Indoor Food Delivery Robot Based on ROS. Journal of Artificial Intelligence Practice (2022) Vol. 5: 30-40. DOI: http://dx.doi.org/10.23977/jaip.2022.050106.

REFERENCES

[1] Grisetti G, Stachniss C, Burgard W . Improving Grid-based SLAM with Rao-Blackwellized Particle Filters by Adaptive Proposals and Selective Resampling[C]//IEEE International Conference on  Robotics & Automation. IEEE, 2005.
[2] Grisetti G, Stachniss C, Burgard W . Improved Techniques for Grid Mapping With Rao-Blackwellized Particle Filters[J]. IEEE Transactions on Robotics, 2007, 23(1):34-46.
[3] Wenzhi Liu. Research and implementation of SLAM and path planning algorithm based on lidar [D].
[4] Cantao Zheng. Research on autonomous navigation and and pedestrian tracking of indoor mobile robot based on liadr [D].

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