Study On Path Planning Of The Planar Mobile Robot

As one important field of robot research, Mobile Robot integrates many technologies, such as Artificial Intelligent, Intelligent Control, Information Process, Image Process, Detection and Transform etc, and covers subjects of Computer, Automation, Mechanics, and Electronics. Considering the Mobile Robot and other devices in our lab, this paper focuses on the research of Path Planning that is critical technology for Mobile Robot. Briefly speaking, Path Planning studies the way to find the shortest barrier-free path in the known or partly-known environment. The paper firstly introduces two environment presentations, and then summarizes some widely-used algorithms such as Petric Net Algorithm. Fuzzy Control Algorithm. Neural Net Algorithm, Artificial Force Field Algorithm and Topology Algorithm. Afterwards three algorithms, including Geometric Algorithm using "elastic" effect. Genetic Algorithm using Maze Algorithm and Ants System Algorithm, are proposed and discussed in detail. The simulation results prove the three algorithms effective and right. At last this paper sums up Path Planning Algorithms and puts forward research tasks for further study.