Research Of Dynamic System And Path Planning Arithmetic Based On Distance Propagating

The research of mobile robot technology is the hot topic recently. Mobile robot path planning technology is one of the important domains in mobile robot technologies' research. Path planning technology is also the fundamental technique for mobile robot to complete other activities. The robot planning is a kind of planning that offers the information of their work environment for robot, then the robot is controlled to move from the starting position to the target in the given time based-on some optimization index. The object of this thesis is to construct an adaptive path planning scheme under static and dynamic environment and enables robot to have the ability of efficient planning path in different complex conditions. Therefore, it makes the foundation for further utilization of mobile robot.A new algorithm for robot path planning in static and dynamic environments is proposed based on distance propagating method, in this method the environmental models are established with grid method, its real-time optimal robot path is generated through the dynamic distance landscape without simply searching for the global optimal path and the collision paths, also distance information is propagating outwards from the target to the start of robot by the manner of grid step. Furthermore, rapid propagation of the distance information outward along the grids and the simpleness of computational effort to update each grid's information enable the searching efficiency to be more rapid. Finally, results of simulation experiments demonstrate that the optimal path can be obtained rapidly, and the effect is satisfactory even in the static and dynamic situations with complicated obstacles.At the last of this paper, dynamic system and path planning algorithm based on distance propagating is implemented in the AS-R mobile robot. The results of the experiments and further data analysis demonstrate the proposed method's validity.