Research on Path Planning Simulation of Mobile Robot Based on ROS

For the problem of ROS robot path planning research, this paper is based on Ubuntu20.04-ROS-noetic system, using urdf, xacro to depict two-wheeled differential mobile robots, and a 3D indoor simulation environment has been established by the Gzaebo simulation platform in ROS. Then, the created 3D map was scanned using LIDAR sensors and a 2D grid map was constructed using SLAM package. Ultimately, the global path planning algorithms used A*, Dijkstra and RRT navigation algorithms, the local path planning algorithm used DWA algorithm. Based on the simulation study of various path planning algorithms for ROS mobile robots from the starting point to the target point, the map building results show that the 2D grid map effect is good, high accuracy, suitable for indoor small scenes and low-featured environment mapping, path planning algorithms can make the mobile robot to complete the autonomous navigation as well as obstacle avoidance tasks in the self-constructed raster maps, which has a certain significance for the research of the robot based on the path planning as well as the This is of some significance for the study of the path planning and the comparative understanding of navigation algorithms.