Study On Path Planning Method Of Mobile Robot

The technology of mobile robot is an advanced technology which has expansive application fields. From industrial manufacture to military spy, nuclear industry, aviation and spaceflight, service industry, medical instrument, gene engineering, etc, mobile robot has great development space in all of these fields. Path planning problem is one of the most basic and pivotal aspects in the research of mobile robot. Its task is to solve the problem of how to move in the environment for robot. Path planning is not an independent aspect in the research of mobile robot. It is relative with many other aspects, such as sense system, communication system and the rules of collaboration. This thesis mainly does the research on the path planning problem for mobile robot, including single-robot path planning and multi-robot path planning. The results of simulation demonstrate the validity of proposed theory and methods. The mainly comment and achievements of the thesis are as follows:1. The guidance technology which is closely relative with path planning problem is studied. In addition, the existed path planning methods are sorted and summarized. All these make a good preparation for the research on the path planning problem of mobile robot.2. Aiming at the path planning for single-robot, two improved methods are proposed based on traditional artificial potential field, which eliminate several disadvantages of the traditional method and optimize the path for robot. Then to solve the part minimum problem, the inherent problem of artificial potential field, a new method is introduced and the simulation results indicate the method achieves the goal.3. Aiming at the path planning for single-robot, an on-line path planning method is proposed based on fuzzy logic. But the complexity of single-layer fuzzy controller increases by exponential with the increasing of inputs. To solve this problem, the thesis proposes the multi-layer fuzzy controller which makes the design of controller simpler.4. To solve the path planning problem for multi-robot, a method based on genetic algorithm is proposed. This method can be easily carried out and used to plan path when environment has been known already.5. To solve the path planning problem of multi-robot under unknown environment, a method which combines artificial potential field and multi ways for...