Mobile Robot

Path planning is an important issue for mobile robot, which makes mobile robot to achieve destination according to set strategy. Researchers have done a lot of works about Path Planning. This dissertation discusses path planning issue on the self-developed mobile robot named SY1012.This dissertation outlines development of mobile robot and path planning and introduces the control system and supersonic censor system of SY1012.On the global path planning research, the dissertation analyzes the differences of depth-first search algorithm, width-first search algorithm and A* algorithm. Compared fast-convergence value function, diagonal-first value function and value function considering g(n), the dissertation gives the result that the value function considering g(n) is better.On the part path planning research, depending on the destination and obstacles, the dissertation uses expert system to choose the rotated angle for next step, realizes part path planning on software level.