The Path Planning Of Mobile Robots Based On Intelligent Algorithms

Mobile robot is one kind of high intellectualized machine system. It has many functions, including environment sensation, dynamic decision-making and planning, behavior control and execution, etc. Mobile robot navigation is an important direction of the robot study, and the path planning is the basic point of robot navigation. In this paper, the path planning of single mobile robot and multi-robots under the static and the dynamic environment is mainly studied. The main work result includes:1. Summarize current research progress and the tendency of mobile robot, the research background and domestic and international similar research at present are introduced, and a concise review of path planning in static and dynamic environment is also presented. The path planning of multi-robots system is introduced. The development trend of path planning is expected in the end.2. The path planning of mobile robot in dynamic uncertain environment is studied, this problem is a local path planning problem, a new planner based on the combination of a particle swarm algorithm and a receding horizon optimization is developed in this paper for the path planning of single mobile robot in a global uncertain environment with dynamic obstacles. The robot path is planned on-line in a series of receding spatial windows to make full use of the local environment information sensed by the robot, and the particle swarm algorithm is applied in each receding window to optimize the predicted robot path. An evaluation function suitable for uncertain environment is proposed to avoid dynamic obstacles in time. Simulation results indicate that the proposed method has many advantages including simple realization, global optimization, rapid convergence and good robustness, meeting real-time requirements of robot path planning in complex uncertain environments with dynamic obstacles.3. The path planning of multi-robots cooperation is studied, As robot research goes on, the multi-robots system already catches more and more many people's attention, the co-evolution algorithm in the path planning of multi-robots is studied, the competitive co-evolution algorithm for the path planning of multi-robots is studied in this paper.4. An example of lifting the wood by two robots is studied as a multi-robots cooperative model. We solve this problem under the uncertain environment using the algorithm of this paper.Finally, the work of this dissertation is summarized and the prospective offurther research on the path planning of mobile robot is discussed.