Research on indoor mobile robot navigation technology based on ROS

A lightweight indoor mobile robot based on ROS is proposed to address the problems of traditional AGV robots mostly relying on patrolling operations, which are costly and limited by fixed paths. The Raspberry Pi 4B was chosen as the master device, the STM32 microcontroller as the slave device, and the combination of hardware such as LiDAR to carry the mobile robot. By introducing two SLAM map building algorithms, Gmapping and Cartographer, and optimizing the parameters of Cartographer algorithm, we get the high quality maps. Aiming at the problems of high computational complexity and inefficiency of traditional RRT* algorithm in path planning, the idea of partitioning is proposed. The range of primary and secondary regions is obtained through calculation, the number of regional nodes is limited, the weight of primary regions is improved to avoid excessive exploration in secondary regions, and finally simulation is performed in MATLAB2022a. The experimental results show that the improved RRT* algorithm reduces the path length by more than 7.6% and the search time by more than 47.8% for both different maps. Therefore it can be utilized in production lines to improve productivity.