Part Of The Environmental Information Known To The Intelligent Robot Path Planning Methods

Intelligent mobile robot is an important branch of robot, due to its' great application potential, current research and development of Intelligent mobile Robot and Autonomous Land Vehicle have attracted the attention of a lot of researchers. The problem of path planning is a very important part of the study of intelligent mobile robot.From the point of combining global plan with local information, this thesis researches the path planning problem of the intelligent mobile robot based on partially-known environments information. The following is the main works:Firstly, this paper introduces the common used planning algorithms for intelligent mobile robot in the country and abroad, and the researching situation is elaborated and summarized, it also analyzing advantages and defaults of each algorithm which made an important basis for the research on mobile robot path planning in the thesis.Secondly, this thesis discusses the method of path planning based on the dynamic A* algorithm (D* algorithm) and the partially-known environments. The paper also discusses the representation of the environment corresponding to the method. From regular cell representation to the common used quad-tree representation, and finally a kind of new representation of farmed-quad-tree. A simple and efficient method used for finding quad-tree neighbor is also introduced in the paper.Finally, the author has designed the simulation systems under VC for the method of path planning and representation of the environment. The data of the simulation is also analyzed to prove the correctness and validity of it. The algorithm is also used in the terrain map of the real world.In conclusion, this thesis refers to the latest fruit on path planning technique, and has practicalities in some ways.