Optimizing Global Path Planning Based On The ROS Framework System For Mobile Robots Experiment Model

This study presents a location and mapping system for a mobile robot with adaptive 2 -wheel drive using ROS. The Karto SLAM technique was chosen to generate 2D maps after evaluating the efficiency of other 2D laser SLAM algorithms. The D* Lite method is employed for global route optimization in robot planning. The DWA algorithm is used for local route planning for real-time obstacle avoidance. Consequently, once the target destination is set, the robot can autonomously and efficiently navigate towards it. The accuracy of the robot’s localization was verified through comprehensive testing in various scenarios, demonstrating its robust performance even in challenging conditions with moving obstacles. Additionally, the system’s modular architecture allows for easy integration of additional sensors or algorithms, making it adaptable and suitable for diverse applications and environments.