Local Path Planning Of Single Robot Based On The Improved Cautiousbug Algorithm

The mobile robot has wide application prospect, and it has huge advantages overhuman beings in the fields of national defense, industrial and agriculture manufacture,and hazard. Path planning technology of mobile robot is an important branch in thefield of robotics, and it is an important combination point of artificial intelligence androbotics. As an integrative subject with updated research results in mechanical,electronic, computer, automatic control, and artificial intelligence, path planningtechnology of mobile robot represents tremendous success of mechatronics. It can beinterpreted as the mobile robot searches a safety path from the starting point to targetin a environment with obstacles based on a certain evaluation standard. This paperstudies the path planning of single mobile robot, and focus on the problem of localpath planning in unknown environment. The mainly comment and achievements ofthe thesis are as follows:1. The CautiousBug algorithm uses the spiral searching strategy for the problemof local minimum point in local path planning of mobile robots, and it continuallyadjusts the motion direction of robot along an obstacle boundary to flee the localminimum point. However, the pattern of adjustment is too simple and lacks offlexibility. To make the robot fleeing the local minimum point faster more easily, theCautiousBug algorithm is improved in this paper by adding a condition of adjustingthe following direction in the spiral searching strategy, where the target point isregarded as a reference point. The robot should determine the following direction,progress or reversal, based on the condition when it reached at a point of which therobot should adjust the following direction according to spiral searching strategy. Thepurpose is to make the robot moving towards the direction which is closer to the target.The added condition of adjusting the following direction can make the robot fleeingthe local minimum point faster more easily, based on the condition of the robot fleesthe local minimum point successfully in CautiousBug algorithm.2. A rule to avoid the obstacles with random motion safely is also constructed inthe improved one,at the same time, where local optimization of the path is considered.The rule can make the robot bypass dynamical obstacles and find out a better andsafety path. The improved CautiousBug algorithm can resolve the problem of pathplanning in complex and dynamic environments for single mobile robot. Simulationresults demonstrate the effectiveness and real time property of the improved methodin complex and dynamic environments.