Research On Path Planning Of Mobile Robot

The path planning of mobile robot and mobile manipulator is one of the frontier and key fields of robot research. Two path planning method are proposed to mobile robot and mobile manipulator. And the simulations are made. The experiments results show that the proposed methods have good performance. The main contents of this thesis are as follows:1. A new on-line method based on virtual obstacle method and artificial potential field method, which is suit for dynamic unknown environment, is presented for mobile robot system. And in order to solve the local-minimum problem generated by artificial potential field, an improved method of virtual obstacle is applied. The simulation experiment results demonstrate, the virtual obstacle method not only solve local-minimum problem, but also act as a landmark role in navigation of mobile robot by means of using the information of passed path indirectly. Meanwhile, this method preserves the advantages of simple calculation, good real-time performance and dynamic unknown environment adaptation of artificial potential field method.2. A new off-line method based on genetic algorithm, which is suit for static known environment, is presented for mobile manipulator. The proposed method takes the advantage of parallel computing of genetic algorithm and is able to find globally optimal solution in probability. The results of simulation and practicality experiments prove the availability of this algorithm.3. Develop the software of path planning based on above algorithm for mobile manipulator. And the method of obstacle detecting based on sonar is proposed.