Research on Simulation of AGV Path Planning Based on ROS
Konferenz: ICMLCA 2021 - 2nd International Conference on Machine Learning and Computer Application
17.12.2021 - 19.12.2021 in Shenyang, China
Tagungsband: ICMLCA 2021
Seiten: 4Sprache: EnglischTyp: PDF
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Autoren:
Zhang, Dongyang; Yang, Bo (School of Equipment Engineering, Shenyang Ligong University, Shenyang, China)
Qin, Feng; Zhang, Hualiang (Key Laboratory of Networked Control Systems, Chinese Academy of Sciences, Shenyang China)
Inhalt:
The path planning ability of AGV is the embodiment of its system intelligence. Based on the problem of AGV path planning, using ROS under ubuntu as the research platform, the URDF file is used to build the AGV model, and the basic principles of the rrt algorithm are studied. And make improvements to it, apply the improved rrt algorithm in the three-dimensional simulation software Gazebo to simulate the path planning of the trolley. The simulation results verify the operability of the AGV's motion. This algorithm can be used for path planning in the 3D simulation world, which can avoid obstacles in real time to reach the target point, and obtain good simulation results, which provides valuable experience for further research in the future.