| With the rapid development of science and technology,robotics has also developed rapidly.The wheeled care robot is a special robot in the field of service.Its essence is a transportation tool for the mobility-impaired elderly and people with disabilities in the lower extremities.For the above special people,navigation technology under complex conditions becomes very important.Path planning technology is a very important branch in the field of navigation.This topic focuses on the research of indoor wheel robot path planning technology,which has a major research significance.First,the existing path planning techniques,including environment modeling and path planning algorithms,are studied to comprehensively compare the advantages and disadvantages of various modeling methods and algorithms.The grid map was selected as the environmental model.In the grid map,Obstacle areas are represented by shaded areas and non-obstacle areas are represented by blank areas.In response to this article,expansion and filling of obstacles have been performed to improve the accuracy of environmental modeling.The genetic algorithm is chosen as the path planning algorithm.In order to overcome the shortcomings of the genetic algorithm such as slow convergence rate,the traditional genetic algorithm is improved on the basis of the original population generation method,mutation operation and repair operation.Next,many simulation experiments on the proposed algorithm are conducted by using Matlab.In the different environments,the algorithm of this paper is compared with itself,which result proves the effectiveness and versatility of the algorithm.In the same environment,the algorithm of this paper is compared with other path planning algorithms,which result proves the superiority of the algorithm.Finally,the body of the robot is designed.Focusing on the modular design of the control system,corresponding hardware circuit and control software are designed according to the different functions of each module. |
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