Research On Dynamic Path Planning For Mobile Robot Based On Hybrid Algorithm

Path planning is a key link in the process of mobile robot autonomous navigation. In this paper, the path planning problem of mobile robot is analyzed and studied, including static environment of global path planning and local path planning under dynamic environment. According to the defects of global and local path planning problem, put forward the dynamic path planning method based on hybrid algorithm. The main contents are as follows:1. This paper expounds the perceptual system of the robot, and the grid method is analyzed and studied, at the same time, the grid method is used in the working space environment modeling. A-Star algorithm principle and algorithm of process is analyzed, using A-Star algorithm in the grid environment to global path planning, and get a better path.2. About the artificial potential field method of target inaccessible problem, it is solved by recreating a new repulsive force function. In view of the local minimum value problem of artificial potential field method, an improved method of adding a virtual obstacle point is used to escape from local minimum point for mobile robot. In view of security problems in the process of planning and smoothness of the path problem, this paper proposes a fuzzy logic algorithm to improve the artificial potential field method. Principle and algorithm process of rolling window are analyzed, and proposes a dynamic planning method based on rolling window.3. In view of the limitations of global and local path planning, the paper puts forward a hybrid path planning method based on A-Star algorithm and improved fuzzy of artificial potential field method. Through the simulation experiment and laboratory experiments, the method in the real-time path planning in dynamic environment has certain advantages.