Path Planning Method Of A Certain Type Robot

Recently mobile robot especially autonomous mobile robot has become a very active research field which has an import application prospect in industrial production, daily life, urban security, national defense and space exploration, etc. Deep research on path planning problem, enhancement of the robot adaptability and the ability to complete the operation mission has a huge significance on mobile robot practical application.This paper made researches in some related technologies about path planning methods combined with a certain two wheel differential diving mobile robot.Firstly, the mobile robot development history and research focus at home and abroad were reviewed, the research status, research methods and key technologies were systematically induced and concluded, the advantages and disadvantages were analyzed.Secondly, the researched robot's external and moving structure was briefly introduced. Equip with CCD camera, laser range finder, sonar sensor were analyze. Multiple sensors collaborative applicationcan has an advantage on location and indoor environment features discrimination and determination, lay a foundation for mobile robot path planning and environment modeling. Meanwhile, basic on the structure characteristics of the two wheel differential diving mobile robot, a certain robot's kinematics and dynamics model was established.Then make research on a certain robot in a thorough analysis on kinds of current mobile robots. According to the deficiency of the containment structure characteristic, through the behavior decomposition, proposing an improved hybrid control system structure based on caution and reaction control strategy and applied to a certain robot path planning. Meanwhile, design the realization control structure.Finally, according to the problems in unknown environment on a certain robot, combined with the Bug algorithm and rolling window algorithm advantages, proposed a path planning algorithm based on dynamic adaptive window. At first this algorithm the modeling and analyzing form local environment then carry on path planning on this basis, design an efficiency Wall Following behavior and emergency collision avoidance behavior, the dynamics constraint and path following control problems were also included. The simulation results showed that proposed environment modeling and path planning methods had good abilities at environment adaptability and obstacle avoidance ability which can improve the robots running safety and target accessibility.