Research On Obstacle Avoidance And Path Planning For Mobile Robots

Mobile robot is an important branch of robotics. And the real-time obstacle avoidance and path planning is also one important research aspect of the mobile robot. With the continuous progress of robot's technology, mobile robot represent the development of information technology, automation technology, system integration technology to some extent. The thesis's research makes a deep and systematic study of multi-aspect of the robot's obstacle avoidance and path planning based on the Pioneer 2-Dxe robot which is made by ActivMedia Robotics company. The contents are as follows:The thesis makes a summarize on different research aspects of mobile robot and contrast the different development level of foreign and domestic. Several methods such as potential field method, grid method, genetic algorithms method, which used in mobile robot's obstacle avoidance and path planning are described in detail.The main research of the thesis is how to use sixteen sonar sensors to realize the obstacle avoidance and path planning. The first problem we should solve is the robot's orientation. The veracious orientation is the precondition of the robot to finish the task. The thesis use road mark method to realize the orientation. Mobile robot have two typical movement: line and circle. We can use this two typical movement's specification to control robot. Next, the thesis decompose the process of obstacle avoidance as two basic actions: avoiding front obstacles and avoiding side obstacles. In-depth analysis of the two actions are also given. Another, the thesis analyze the principle of safe avoiding distance and the way of unknown circumstance character analysis based on sonars; realize the optimal path planning of maze map based on A* algorithm; give the obstacle avoidance strategy based on potential field method.Moveover, the thesis constructs a communication platform based on VC, the content realization and the protocol format of data package are also given.We experimentalize with Pioneer II robot and the experiment's results verify that the above strategy and algorithm is correctness and effectiveness.In the end, this thesis makes a summarize about full text and looks ahead the application of information integration technologies in obstacle avoidance and path planning。...