Design and Implementation of ROS-based 5G Operation and Maintenance Center Inspection Robot Navigation System

To realize the intelligent navigation and safe obstacle avoidance of the intelligent inspection robot in the complex environment of the 5G operation and maintenance centers, and build an accurate environment map, This paper designs an autonomous navigation system for 5G operation and maintenance center inspection robots based on the robot operating system ROS. During the navigation process of the inspection robot in a known environment, The A* algorithm with a new heuristic function is used for global path planning, and the improved DWA algorithm is used for local path planning. Based on the traditional DWA algorithm, a new distance evaluation function is added to optimize the obstacle avoidance effect of the inspection robot. It enables the robot to reach the target point faster and safer, and conduct related simulation experiments and real-environment experiments. The experimental results show that the method can realize the real-time dynamic obstacle avoidance of the robot in complex environments and reach the endpoint, and it can be closer to the global path planned by the A* algorithm. Guarantee the global optimal route.