Design of Robot Path Planning Algorithm Based on ROS

• Published in: Proceedings of ... IEEE International Conference on Unmanned Systems (Online) pp. 313 - 318
• Main Authors: Ma, Xiangfeng, Wang, Yuanyuan, Jin, Zhevi
• Format: Conference Proceeding
• Language: English
• Published: IEEE 18.10.2024
• Subjects: A search algorithm; Approximation algorithms; autonomous adversarial robot; Collision avoidance; Costs; global navigation; Heuristic algorithms; Linear programming; Navigation; obstacle avoidance; Path planning; Robot kinematics; Robots; ROS; TEB algorithm; Testing
• ISSN: 2771-7372
• DOI: 10.1109/ICUS61736.2024.10839989

The current military adversarial intelligent robots have received unprecedented attention and development. Research on fully automatic robots capable of completing specific adversarial tasks has significant practical value, and the autonomous navigation of adversarial robots in the environment is one of the most pressing issues to be addressed. This paper, based on the ROS (Robot Operating System) robot development platform, presents a path planning algorithm for robot pathfinding. Firstly, this paper derives the A* search algorithm used for global navigation and improves it according to cost maps tailored for adversarial tasks. Subsequently, this paper investigates the TEB (Timed-Elastic-Band) algorithm for local navigation and obstacle avoidance, optimizing multiple objective functions through multi-objective optimization to achieve dynamic flexible obstacle avoidance while closely adhering to paths provided by global navigation. Finally, this paper conducts coordination and testing of the robot's automatic navigation function in a simulated environment.