Research On Path Planning Of Mobile Robot Based On Environmental Map Information

With the constant advancement of science technology, robotics are being wider and wider applied in industry, agriculture and other aspects of social lives. The path planning problem of mobile robot is an important composed part of robots' study. In this paper, a kind of novel and useful global path planning method was presented aimed at path planning problem of mobile robot. In this thesis, at first the general research situation of robot technology in domestic and overseas was summarized. The nowadays research progress and methods of mobile robot's path planning were introduced. The selected subject background, the research content and significance of this thesis was introduced too. The second, aimed at the "pioneer-Ⅱ" of two rear driving wheels mobile robot designed by ourselves, mechanical structure design of the robot was introduced in detail, and the kinematic model of this kind mobile robot was built. Based on those, the influence of kinematic model because of gear-driven was discussed. The third, running environment of robot was modeled. The electronic map data of experimental running environment of the mobile robot was gained according to some simple regulations. The fourth, based on the robot's running environment, a kind of mobile robot path planning method was given out using the Voronoi diagram. The way to create collision-free path net used Voronoi diagram algorithm and the way to find optimal path used Dijkstra search algorithm were emphases introduced. Further more, under the VC++ program environment, the path planning method was simulated and the simulation result was given too. The fifth, whole structure of semi-autonomous mobile robot remote control system was brief introduced. Emphatically discussed the peripheral patulous circuit based on DSP micro-controller of mobile robot reality, and the positioning algorithm of mobile robot was also built. After these, the path planning simulation algorithm was transplanted to DSP micro-controller. The experiments show that it can be run normally. At last, some conclusions educed in the researching process of this thesis were summarized. Furthermore, some shortage in this thesis was pointed out and the aspects which must strengthen for further research were put forward too.