Research On Path Planning Of Mobile Robot

Path planning algorithm is an important part of the research in the field of mobilerobots, but also a higher level of mobile robot to complete a task basis.The purpose is toenable mobile robot in a known or unknown environment, quickly and accurately findout the shortest reasonable path without collision.After analyzing the advantages anddisadvantages of the various basic path planning method, this paper establishes gridmethod and genetic algorithm to solve the problem of mobile robot path planning.First, the ways of mobile robot navigation are introduced, and a simple comparisonof the advantages and disadvantages on different navigation ways and scope ofapplication is made.Followed by an analysis of the various mobile robot path planningmethod to determine the path planning method for mobile robot studied in this paper.Second,operating mode,positioning principle and positioning prerequisite of thelaser positioning sensor are introduced, and the method on installing of the laserpositioning sensor and arranging of the reflectors is proposed reasonably, which lays thefoundation for the following research.Moreover, according to the characteristics of laser positioning sensor, the mobilerobot working environment model is established, the obstacles marking method and therobot movement in rasterized map are identified.Then the path planning method basedon genetic algorithm is forced studied. Path is encoded by grid numbers, initialpopulation is structure by randomly generated way,each path is feasible path from thestarting point to the target point without interruption and barriers. And according to theprinciple of the shortest path, the fitness function is designed. Use roulette method,single-point crossover, single-point mutation on population genetic manipulation. Theimpact of population size, crossover and mutation probabilities of genetic algorithmsoutput quality are studied and the parameters are set.Finally, the path planning methodstudied in this paper is compared with others, and the result is well.Finally, the feasibility of the planned route is validated and the mobile robotkinematics model is established in this paper. The precursor steering fuzzy controller isdesigned with manned and automatic control. The inputs of the controller are lateraldeviation and angle deviation and the output is steering coefficient. Finally, the pathfollowing simulation model of the robot is established in Matlab-Simulink, thesimulation result indicates that the system followed the path on a good performance and the method is effect and feasibility.