Motion Planning Of Mobile Robots In Dynamic Environment

With the development of science and technology as well as the robotics, robots has found more and more applications in various fields, and consequently, the research and development of mobile robots have been paid great attention to in recent years. The requirement of its ability to take corresponding measures in accordance with the environmental changes in its moving courses has become higher and higher. Therefore, the route planning, as an important factor in robot intelligence, appears particularly significant.This thesis, using the heuristic searching algorithm and the rolling planning strategy, mainly focuses on the study of the route planning of mobile robots in complicated environment and its relevant problems, especially the motion planning in unknown static and dynamic environment. Following are the main content of this thesis:The first part analyses the safety of moving robots in complicated environment. According to the relationship of the scanning scope of robots, the local range of robot motion planning, and the safety distance in an ideal state, it discusses the prohibiting area and the potential collision area in the moving courses of the robots.The second part proposes a mapping method in a static complicated environment. By selecting appropriate sub-targets in its movement, the robot directs itself to move toward the final goal in way of the local rolling planning.The final part proposes, in a dynamic complicated environment, to use the dynamic BW(t) model as the dynamic environment to describe the changes of the environmental information caused by the dynamic moving obstacles. From a visible window, the robot senses and predicts the movement of the dynamic obstacles, and passes the information to the route planning window where, therefore, it can be regarded as a known dynamic environment. Finally, the robot will be able to adapt to the constantly changing environment through the rolling of the route planning window.