Research On Mobile Robot Path-planning And Simulation Realization

Mobile robot is a colligation system including manifold functions. It deals with mechanical engineering, control engineering, communication science, artificial intelligence etc, The study on mobile robot path planning has being an important aspect in the mobile robotic research field and turning into a hot problem. This paper separately takes single robot and multi-robot as research object, path planning is investigated and discussed, simulating the thing in experiment. Mostly have several part as follows:Firstly, the robot history and research hotspot are brief recommended. The common used planning algorithm in the country and the broad,the researching situation and the key technologies are elaborated and summaried,analyzing advantages and defaults of algorithm. Kinds of traditional methods about mobile robot global path planning and local path planning are recommended, which made an important basis for the research on mobile robot path planning in the thesis.Secondly, the thesis partly takes single robot and many robots as the research object, establishing the model of robot job environment. Basing on the existence algorithm, passing properly research, explain several artifactitious path planning. For example, in the single robot system, planning the path base on framework space approach after using ant colony optimization; in many robots system, arbitration criterions of algorithms for multiple robots path planning are given, which include correctness, time-space complexity, concurrency, reliability, expandability, and so on. In static environment, plans the path base on grids after using genetic algorithm, and gives the rule of avoiding collision between robots. These methods have been simulated in computer, the result shows the validity of the proposed approach and it is usefulness to research robot, especially many robots.Finally, the full text is summarized and mobile-robot path planning problem is prospected.