Research On Mobile Robot Path Planning Based On Dynamic Object Detection

Along with the improvement of people’s requirement about mobile robot, alsoconsidering the background of high autonomous mobile robot widely used and hugemarket value, more and more researchers all over the world pay attention to the mobilerobot. This paper mainly research as follows:Firstly, this paper introduces the research background and research significanceabout mobile robot path planning. Then, introduces the working principle of SICKLMS-200’s laser rangefinder from SICK company. it combines detection method formobile robot dynamic target and path planning algorithm based on mathematicaloptimization, than indicates the research direction of this paper.Secondly, we describe detection method of dynamic target about laser radar andintroduce the current status of dynamic target detection. We propose a dynamic targetdetection algorithm based on the ellipse model and correlation matching. Thealgorithm is applied to the mobile robot environment analysis system, experimentalresults demonstrate the simplicity and effectiveness of the proposed algorithm.Then, in the laser radar based on dynamic target ellipse model is presented based ona nonlinear programming path planning algorithm. Mobile robot was deduced based onthe principle of obstacle avoidance and tracking of the principle of nonlinear constraintexpression, established to mobile robot to the target of the shortest path as the objectivefunction of the nonlinear programming model.Finally summarizes the path planning scheme based on elliptic modeling and NLPalgorithms, design simulation experiments. Experimental results show that the proposedpath planning algorithm is very effective in static or dynamic conditions to find theoptimal or approximate optimal path, to complete the obstacle avoidance and trackingtasks.