基于RRT的虚拟现实环境中ROS机器人路径规划研究

Research on Path Planning of ROS Robot in Virtual Reality Environment Based on RRT

机器人技术正在渗透到社会的各行各业,移动机器人的研究具有很高的理论意义和广泛的应用场景。利用三维物理仿真软件构建仿真场景,搭建机器人模型,引入快速扩展随机树算法(RRT),使用ROS系统进行仿真环境的路径规划算法调试。通过调用RRT算法节点使单个机器人或多机器人能够在未知环境里避开障碍物自主导航建立地图,并验证该算法的稳定性与可行性。结果表明,与传统人为控制机器人扫描建立地图相比,使用快速扩展随机树算法的ROS机器人更具有便捷性。单机器人与多机器人完成探索的时间对比,证明多机器人探索具有快速性的特点。

Robot technology is infiltrating all walks of life in society,and the research on mobile robots has high theoretical significance and a wide range of application scenarios.Use 3D physical simulation software to build a simulation scene,build a robot model,introduce a rapidly expanding random tree algorithm(RRT),and use the ROS system to debug the path planning algorithm in the simulation environment.By invoking the RRT algorithm node,a single robot or multiple robots can avoid obstacles in an unknown environment to navigate autonomously and establish a map,and verify the stability and feasibility of the algorithm.The results show that compared with the traditional human-controlled robot to scan and build the map,the ROS robot using the fast expanding random tree algorithm is more convenient.The comparison of the time for single robot and multi-robot to complete the exploration proves that multi-robot exploration has the characteristics of rapidity.