The Path Planning Method Research Based On Rolling Optimization Theory

The path planning of mobile robot is a key issue in robotics, which means tofind a proper moving path for robot from a designated start point to a designatedgoal point in a workspace with obstacles. The path should be collision-free sothat the robot could bypass all obstacles safely. It is the basis of various tasksand re?ects robot's capability of interaction with the surrounding environmentduring its movement. What I researched in this dissertation is path planning inthe unknown environment. The path planning in uncertain environment concernshow to make full use of local detected information to plan a path that is not onlyfeasible but also optimal.There are many methods of path planning used in the unknown environment.But there are still some problems unresolved in path planning, such as local mini-mum and nonholonomics, because of the characters of algorithms and environment.In this paper, for the properties of rolling windows algorithm, these problems areresearched based on the realizing and analyzing of rolling windows method. Theresults of simulation show that the method proposed in this paper is valid.1 Introducing the main research contains of mobile robotics, the purpose andthe signification of path planning, and the researching status of path planningmethods.2 Realizing and analyzing mobile robot path planning method based on rollingwindows. The method makes full use of the real-time local environmentalinformation detected by the robot and the on-line path planning is carried onin a rolling style. Optimization and feedback are combined in a reasonable way. Rolling path planning has high speed and high e?ciency. But thismethod still has local minimum in the process of planning. For the problem,a method of path planning of rolling windows based on map analyzing isproposed. Resolved the problem of local minimum validly.3 Wheeled mobile robot is a typical nonholonomics system. So the path plan-ning need to consider not only geometry constrain of environment but alsokinematic constrain of system. Otherwise, the planning path maybe nonef-fective for mobile robot. Because of that, a path planning method satisfiednonholonomics based on the minimum turning radius in the rolling windowsis proposed. In this paper, the trajectory planning of mobile robot with fourindependent wheels is researched. The strategy of trajectory planning basedon concentric circularity turning is proposed.4 Finally, we select suitable chips and sensors to design a module hardwareplatform to satisfy the request of experiment.