Robot Path Planning Research Based On Extension

Mobile robot is a integrate system that includes environments apperceiving, dynamic decision-making and planning, action control and execution. Path planning is one of the most important technique in the field of mobile robot. It is the safe guarantee that makes the mobile robot complete the mission, and it is the marking that represents the intelligence level of the mobile robot. At the same time it is also the interested joint which links the artificial intelligence and robotics.Extenics is a new-style subject, its aim is to research the way that human thinks and solves problems, so it must intermingle the problems of Artificial Intelligence. Extension control based on matter element and extenics is a new branch of the artificial intelligent control. Extension control uses matter element describe the control problem of the systems, the problems can change into the problem which is controlled through the method of matter element. This paper, based on this idea, applies the arithmetic of extension control theories to research the problem of mobile robot path planning.This thesis chapter as follow: The first chapter introduces the development of mobile robot path planning, and the content and the characteristic of mobile robot path planning. The second chapter introduces the technic of mobile robot path planning, include the definition,variety and characteristic of path planning, and so on. Bring forward the new arithmetic of path planning. The third chapter introduces the basic theory of extenics systematically, and describes the method of extension control emphatically. The fourth chapter builds the robot's model of matter element, applies the arithmetic of extension control theories to research the problem of mobile robot path planning. The model is simulated by using Matlab. Results of simulation show that the extension control is of good performance and feasible. The last chapter summarizes the whole paper and makes conclusion of the work which has been done and should has been done. Above all, using the Extenics to study the mobile robot is still an adventurous and novel attempt, so it has perfect research foreground.