Research On Motion Controlling And Path Planning For Mobile Robots

Mobile robot is an important branch of robotics. And the motion controlling 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 motion controlling and path planning based on the Pioneer 2-Dx 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 and Algorithm on the basis of the neural network, which used in mobile robot's motion controlling 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﹑motion controlling 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. This thesis has described the conversion relationship between the car-mounted coordinate of the robot and global coordinate in detail , it establish the foundation for robot motion controlling and path planning . In this thesis the robot detect the surrounding environment with sonar ,then we merged the sonar data of the robot , this provide essential environmental information for the robot motion controlling and path planning. This thesis has also introduced the Mluti-Agent based mobile robot motion controlling , and introduced each agent`s function, proposed one simple and effective avoiding algorithming . Finally, This thesis has discussed especially the potential function for mobile robot path planning. Proposed a potential function,and analysed the defect existing in the traditional potential function . In the face of shotcomings of the traditional potential function,I proposed a improved potential function, it has effective overcome these shortcomings. Moveover, This thesis has also realized the mobile robot communication based on C/S mode, it makes the robot can steady and largely communicate with the client, and it assure effectively the realization of robot controlling. 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。...