Research And Realization On Mobile Robot Path Planning Strategy In An Unknown Environment

The path planning as an important aspect of artificial intelligence in robotics area is one key technology for the mobile robot, which concerns about how to get a ideal way to reach the target without any block and collision in an given surrounding. A arithmetic on the local unknown area path planning is given in the thesis based on fuzzy control theory.A method is given based on the former researcher's research work. The application of artificial control method in the mobile robot is discussed. After that, a second grade fuzzy control rule on the robot rotating angle and velocity is set up, while optimized based on the shortest path, to get the rotating angle and velocity control table. The validity is proved in simulation on MATLAB.The collision-avoid path planning is designed based on the different and varied blocks and the matters which would be when working. For convex obstructer, a beeline judgment is design to solve"Z"path problem, for concave obstructer, a new method is put forward to avoid endless loop. A get-back path is planned based on the bionic principle, saving time and cutting down the distance needed to back. All coincide in MATLAB simulation.A virtual surrounding is set up in JAVA 3D and the path planning arithmetic is compiled in JAVA, to validate the path planning method, realizing robot path planning the simulation in virtual surrounding.The validation of the arithmetic is re-proved by the experiments on the wheel robot with ultrasonic wave sensors in different surrounding with varied obstructers.