Research On Robot Obstacle Avoidance Algorithm

Intelligent robot is paid more attention because of the rapid development of robotics and artificial intelligence, and how to enhance the autonomy of the robot obstacle avoidance performance becomes one which of main topics these year scholars study. This paper conducted in-depth study to the obstacle avoidance methods of the mobile robot and designed one kind of plan method based on the chaos genetic algorithm for the problems of robot planning genetic algorithm of easy to fall into local optimal solution and slow convergence. The mainly important work is as follows:This paper focuses on the mobile robot obstacle avoidance method based on chaotic genetic algorithm. In this method, tow dimension coding of geographic information simplified to one dimension coding; simplified the relationship of robot with the algorithm; using self adapting selection probability and adding chaos algorithm improve the simple genetic algorithm, thereby the path planning method for robot is more robust and the problems of early and slowly convergence of simple genetic algorithm is solved. MATLAB simulated the obstacle avoidance realizations of mobile robot under a variety of static unknown obstacle environment, which are proved the validity of algorithm designed.Obstacle avoidance method based on chaotic genetic algorithm was applied to the UP-VoyagerⅡmobile robot. This paper developed a set of autonomous obstacle avoidance system based on the chaos genetic algorithm. The functional modules of the system is developed by VC++6.0. Autonomous obstacle avoidance system consists of four modules: the serial communication module, the ultrasonic ranging modules, the manual control module, the autonomous obstacle avoidance module. In the autonomous obstacle avoidance module, it completed the connection of MATLAB and Visual C++ by MATLAB engine technology. And by calling the MATLAB engine functions, it applied the obstacle avoidance method based on chaotic genetic algorithm designed by MATLAB to autonomous obstacle avoidance system of mobile robot. At last, using the autonomous obstacle avoidance system, the UP-VoyagerⅡmobile robot came true to avoid the obstacle in the real environment. It also verified the effectiveness of the algorithm.