A 'Goal' Path Planning Of Wheeled Moving Robot

Path planning is an important branch of intelligent robot kinematics, as well as the hotspot and front subject of robot researching. This article mainly aims at the problem of the path planning of an automatic tracking,a goal arithmetic is presented, the validity and the project practicability of this arithmetic are validated through experiment. The main contents are as follows:1. Robotics and the development status of path planning were recapitulated, as well as the significance and the project value of path planning were illuminated.2. An ideal kinematics model of the automatic tracking was found, and the location calculation of the car was demonstrated.3. In the no-obstacles environment, a kind of path planning arithmetic like a ball entered a goal was taken out, the feasibility and the generality of this arithmetic were demonstrated by experiments.4. In the static-obstacles environment, aiming at the inherent defect of traditional artificial potential field method, a fuzzy artificial potential field method was presented, accordingly the problem of local minimum was overcame effectively through designing an self-adaptive fuzzy controller. The simulation results showed that this method had good robust stability and strong environment adaptability, and the car can plan a smooth path effectively.5. The main contents of this article were summarized, also the problems and deficiency were pointed out, and the next step of researching was proposed.