Research On Mobile Robots Path Planning Method In Dynamic Unknown Environment

The research and development of mobile robots have been paid great attention to in recent years. The requirement of its ability to take corresponding measures in accordance with the environmental changes in its moving courses has become higher and higher. Path planning of mobile robots is one of key issues in robotics research. It is always a focus topic for the researchers all over the world. Mobile robot's path planning in dynamic and unknown environment is the way referring to plan and control robot to reach target state from initial state using expected method under the condition that target and obstacles are all moveable. The robot should be able to reach the goal point quickly, and to realize the fleetness tracking to moving target, and to realize dynamic obstacle avoidance in this process. Traditional methods of path planning have their own drawbacks respectively. With more and more complex work environment and higher demands of the planning tasks, robots will not complete the tasks well if traditional methods of path planning are still adopted.In this paper, mobile robot's dynamic tracing and obstacle avoiding is the emphases, and it has been discussed both in theory and practice, combined with mobile robot's navigation. The main achievements are presented as follows:First, the technology has carried out systematic research on mobile robot navigation, and its basic concept and theory has been discussed. It has been carried out that investigation and discussion specifically for technology of localization, path planning and multi sensor information fusion etc.Second, the architecture of the robot is researched. Through the introduction of the architecture of the mobile robot at present, the architecture in this paper is presented. Based on this, the function module is demarcated.Finally, the traditional artificial potential field method has been studied systemically. An aided repulsive force ring method is presented to improve artificial potential field algorithm to solve the problem of dynamic tracing and obstacle avoiding for mobile robot, the action way of repulsive force and the robot's obstacle-avoiding strategy have been changed in traditional artificial potential field algorithm, and this method can make it flexible and effective for mobile robot to avoid collision in dynamic environment. Simulation results verify the validity.