Research On Path Planning Technology Of Indoor Mobile Robot

With the rapid development of artificial intelligence and social economy,intelligent autonomous mobile robot has been widely used in public service,indoor cleaning,workshop logistics,safety rescue and medical care.Path planning is a hot topic of autonomous mobile robot research,and also a key technology to achieve successful autonomous navigation.How to ensure real-time obstacle avoidance and plan an optimal safety path in dynamic environment is the prerequisite for ensuring autonomous movement of mobile robots.Therefore,this paper takes indoor mobile robots as the object,combines the global optimality of global planning and the real-time nature of local planning,and proposes a hybrid two-layer path planning algorithm to solve the path planning problem in complex environments.Firstly,on the basis of kinematics analysis and environment map construction of mobile robot,the global path planning problem in static environment is analyzed.Aiming at the problems of traditional ant colony algorithm,a new adaptive ant colony algorithm is proposed by improving heuristic information,transfer probability and information update strategy.At the same time,the multi-objective performance index is introduced to transform the path planning problem into a multi-objective optimization problem,so as to achieve the comprehensive performance optimization of global planning.The effectiveness and superiority of the improved ant colony algorithm are verified by MATLAB simulation.Secondly,aiming at the problems of traditional dynamic window approach,a new evaluation factor is introduced to improve it.On this basis,combining the global optimization of global planning with the real-time of local planning,and combining the rolling window principle,a hybrid two-level path planning algorithm based on adaptive ant colony algorithm and dynamic window method is proposed to solve the path planning problem in dynamic environment.The effectiveness of the hybrid bilevel path planning method in dynamic environment is verified by MATLAB simulation.Finally,the experiment platform of mobile robot based on ROS is built,and the path planning experiments are carried out in different experimental environments,and the experimental results are analyzed.The results show that the proposed path planning algorithm is basically feasible.