| With the development of computer technology, automatic control technology and sensor technology and other related technologies, mobile robot research has become the focus of research in artificial intelligence. Among the research of intelligent mobile robot research, path planning is one of the key issues and has become one of the hot spots of today's mobile robotics research. In this paper, rapidly—exploring random tree (RRT) algorithm based on rolling windows, is applicated to develop an autonomous mobile robot simulation software, by which simulated mobile robot can achieve optimal path planning in a virtual environment.In this thesis, the development status of the mobile robots and its path planning is introduced, and the theoretical and practical value of the path planning is elaborated. On the basis of analysis of the robot motion control theory, an ideal kinematics model of a wheeled mobile robot was established. Base on the RRT algorithm existing problems, a new heuristic RRT algorithm based on rolling window called WHRRT algorithm were introduced in detail. This algorithm makes full use of local information detected during the running of robot to plan path in a real-time way. The way planed by this algorithm is more reasonable, for global planning in one time is replaced by repeated local planning in many times.Specific implementation of the WHRRT algorithm introduced above is simulated on a simple simulation system simulation platform built in the use of C # and DirexctX9, and then the algorithm is verified. |
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