Research On Path Planning For Autonomous Mobile Robots

Path Planning for Mobile Robot is one of the most critical technologies among all of the Robotics researches. The chief task of path planning is: when the Mobile Robot is running under the environmental space, it is usually asked to seek one of optimal path which would link between the known start point and the known end point. That is to say that we at least could find the avoid-colliding path which should be shortest or lowest cost. It is very easy to ~ find the optimal path under the static and fully known obstacles space. However, it is fairlydifficult and complex to find the optimal path under the dynamic and unknown or partly unknown obstacles spaces. The main content of this paper is listed as the following:1. According to the domestic and foreign relevant references, have expounded the main research content of Mobile Robot Technologies, the target and the factual meaning of path planning. Have detailedly interpreted the current research status of path planning for Mobile Robot.2. According to the characteristics of the system of Mobile Robot with wheeled, have expatiated some theories and algorithms of path planning. The theories and algorithms include the fully unknown or partly unknown and entirely known obstacles space. Have proposed the path planning control strategies and methods which include the ultrasonic avoid-colliding of excessive redundancy and the different position of driving wheels.3. Have designed and manufactured the experimental vehicle of Mobile Robot with Wheeled according to the experimental research requirements. The experimental vehicle is composed of control part and mechanical part. Have designed the interface of ultrasonic transducers of measuring distance and pulse encoders of sampling velocity which use the DSP as the processor; And have expatiated the work principle of measuring barriers, velocity and4. position; Meanwhile, have designed the accessory circuit of DSP, including,power of DSP,CAN communication, LCD display, drive of DC motor and storage and so on.4. Have designed the software of path planning for the experimental vehicle according to the control strategy and control method which have been proposed before, including PC software and DSP software. The function of PC software is to realize display of the experimental vehicle and sending decree to DSP; The DSP software function is to realize thepath planning for the experimental vehicle, sampling data and executing the decree which being sent from PC. The path planning includes how to plan the path of Mobile Robot under the different obstacles environment, such as without barriers, right-angle and circle obstacles. Sampling data includes the measure of distance using Time Elapse Method and sampling the velocity of DC motor using the rotary encoders.5. Have done some experiments with the experimental vehicle according to control strategies and control algorithm which have been proposed before, and gotten the experimental result. Have chiefly analyzed the outcome of path planning, which includes the diverse analysis between planning path and actual path under the different obstacles environment, such as without barriers, right-angle and circle obstacles.