Research On A New Path Finding Algorithm Of Mobile Robot In The Complex Environment

Path planning is searching for a optimal or sub-optimal path from beginning state to the final state in accordance with certain performance indicators (such as distance, time, energy, etc.).The study on mobile robot path planning has being an important aspect in the mobile robotic research field and turning into a hot problem. This paper takes mobile robot as research object, presents a new path planning algorithm based on investigating and discussing the current path planning, and then simulates the new algorithm in experiment. Mostly have several parts as follows:Firstly, the current status of the path planning technology is brief recommended. The common used planning algorithm in the country and the broad, the researching situation and the key technologies are elaborated and summarized, analyzing advantages and defaults of algorithm. Kinds of traditional methods about mobile robot global path planning and local path planning are recommended. Then give a brief introduction to the process of path-searching algorithm in general method, analyze the heuristic evaluation function's capacity and efficiency, which made an important basis for the research on mobile robot path planning in the thesis.Secondly, takes mobile robot as research object, takes the instance which the overall situation is known, local situation is dynamic as research environment, establishes the model of robot job environment using grid, presents a new path planning algorithm based on grid map. For example, arbitration criterions of algorithms for path planning are given, which include correctness, time-space complexity, concurrency, reliability, expandability, and so on, planning the pro-path base on grid map after using improved A-Star Algorithm, then robot according to the path of advance planning for movement, movement on the process of sensor information to determine whether the environment changes, such as the changes, modify the grid information, improved genetic algorithm with local obstacle avoidance path planning, target point for the early pre-planning the path of a node, and then continue to follow the path planning in advance forward, until the end. In this paper, the new algorithm flow chart for the code to achieve, and carried out computer simulation experiment results prove the effectiveness of the algorithm.Finally, the full text is summarized and mobile-robot path planning problem is prospected.