The Research On Local Path Planning Method Of The Autonomous Mobile Robot

In manufacturing and non-manufacturing industries, the mobile robot applies in many fields. Path planning of the mobile robot is one important part of the technique of the mobile robot. Researching on it has significant meaning in theories and engineering applications. After researching on main methods about path planning, this paper provides the different method of plan planning.First of all, the paper summarizes three driving styles of the mobile robot, and on the basis of it, introduces kinematic model of the researched robot and the method of calculating position and angle of the mobile robot.In the next place, the paper introduces risk-degree of collision which is defined using distance and relative orientation between the mobile robot and obstacles, and then plans the path using the method based on risk-degree of collision and fuzzy logic control. The obstacle-avoidance simulation is carried out, the results indicate that the method is feasible.Thirdly, in the multi-mobile-robots system, the robots are considered as moving obstacles between each other. The paper uses predicting method to estimate the position and velocity of the moving obstacles in the next time. Straight and rounding obstacle-avoidance behavior are partitioned, and on the basis of the two behaviors, this paper researches on the path planning of multi-mobile-robots. The method combines behavior decision and attemperment. The simulation results turn out that the method is feasible.Finally, the paper experiments on the path planning of one mobile robot.