Study Of Path Planning And Obstacle Avoidance On Automatic Vehicle Tracking Device

The path planning is one important research aspect of the mobile robot which is a hot branch of robotics. The Study of it has the important theory significance and the application value. So many scholars have been attracted by the research of the problems of mobile robot's obstacle avoidance and path planning.The thesis's research makes a deep and systematic study of the robot's obstacle avoidance and path planning based on the Automatic Vehicle Tracking Device. The main content is as following:1. The development of mobile robot's path planning has been introduced briefly in this thesis, and the purpose and significance of study have been represented.2. A system for mobile robotic obstacle avoidance which is based on ultrasonic sensor has been built, and the vehicle's obstacle avoidance was accomplished.3. Thesis looks Automatic Vehicle Tracking Device as research object, the global path planning method which is based on A* algorithm was analyzed. And the path planning method of vehicle following complex curve which based on computing length of arc through integral was presented.4. The path planning method of Automatic Vehicle Tracking Device was simulated which is based on MATLAB, for proving the correctness of algorithm. On the other hand, the experiment of vehicle following complex curve has been done successfully, which proofs that this algorithm has practicalities in some way.