Study On Path Planning Technology Of Mobile Robot

Mobile robot has many great advantages in the areas of industry, military, medical treatment, entertainment, and so on. Therefore, the research on mobile robot has astracted extensive attention. In the field of robot research, path planning is a very important component, and is a hot research point. That is, according to the certain performance indicators, path planning is employed to search an optimal (or near optimal) path without collision in workspace area for the robot, here the optimal path is from starting position to the end position.Under the two-dimensional static environment, a VSS (virtual Semi-Siege) model of barrier is proposed in this paper for reducing the success rate of enemy reconnaissance and risk of robots, and the vision problem of ground reconnaissance mobile robot moving into the observation area is studied. The results of simulation show that the mobile robot can enter into observation area whith different viewing angles adopting the VSS model. and the mobile robot's safety is raised.Subsequently, based on the theory of D* algorithm and wave-front planner, the Wave-Front D* algorithm(WFD*) is proposed, which is employed to solve the problem of mobile robot path planning under dynamic environments. The simulation results show that this algorithm can calculate quickly an optimal route for mobile robot in both the global path planning and local path re-planning process, and it has a better real-time than the traditional D* algorithm.