| Mobile robots should have the ability of change position according to the human target,so the path planning became the focus of robotics research and the key of intelligence. Thepaper based on the analysis of all kinds of path planning algorithm to compare the advantagesand disadvantages of A-Star algorithm and fuzzy control algorithm, using the fusion of twokinds of algorithmn in the grid map to plan paths and the laser range finder is the mostimportant sensor. The main work of this paper are as follows:Firstly, the background of mobile robots path planning are introduced and at the keytechnologies are summarized, analysis mobile robot path planning algorithms which arecommonly used, so we can propose the further development direction.Then the laser range finder made from the SICK named LMS200is described, focusingon its four key parameters include data transmission rate, angle resolution, mounting andpositioning height to set the related experimental parameters. Discuss the methods of obstacleavoidance and map building using the laser range finder, simulation experiments prove it.In addition, the A-Star algorithm and fuzzy control are introduced and path planning ofmobile robots can be built based on those algorithms. Analysis of the A-Star algorithm andpreparation of the corresponding test codes can be used to summarized their advantages anddisadvantages, arming of improving the A-Star algorith path planning, fuzzy controller isdesignde. The fuzzy control theory and the present research results are introduced detaily.Finally, the fusion algorithm is summed up, a large number of simulation and physicalexperiments are used to prove the correctness of the theory. The experimental results showthe design of path planning scheme can well complete the path planning and obstacleavoidance well and reach the expected aim. Robot can get a smoothing feasible path tofurther validate the algorithm of path planning for robot is available and portable. |
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