Research Of Mobile Robot Mixed Path Planning Algorithm

The mobile robot path planning is the key question in the robot engineering research, its primary mission is: in the obstacle space, robot must to find one shortest or the lowest price non-collision path. The multi-robot path planning takes the multi-robot assembly system as an object, finds a superior way in the same space for each robot, and guarantes that between each time robot does not have the collision, and between the robot and the obstacle does not have the collision.Firstly, this paper gives the classification of the robot path planning, introduces the commonly used methods , overall situation path planning and the partial path planning, then contrastive and analysis the good and bad points of each method. Next, improves one three dimensional robot path planning environment prototype system kind based on the neural network, prepares the precise sufficiency function for the mixed algorithm. Finally, proposes a multi-robot mixed path planning algorithm based on the Agent technology and the particle group algorithm union. The Matlab simulation and the analysis indicated that this algorithm applies in the mobile robot path planning is feasible, and can effective enhance the ordinary path planning algorithm the operation efficiency.The prime task includes:1. Improved the SHAA model. Through the new model, describes the robot working space dynamic environment to restrain and to choose the optimal-adaptive function.2. Proposed mixed algorithm of the robot Agent alliance and the particle group algorithm union; Uses the optimal-adaptive function in this algorithm, found the robot plan to be most superior not bumps the way.3. Has carried on the simulation and the analysis to the mix algorithm, and proposed the forecast to present's work.