Research And Implementation Of Path Planning And Motion Control Of Autonomous Mobile Robot

The Mobile robot technology is an advanced technique witch has a great applied prospect,it can be used in many kinds of fields which not only include the anvanced scientific but also include manufacturing and daily life of human being. It becomes very exigent to use the mobile robot with high artificial intelligence in industrial production fields because modern industrial production tends to more effective and more flexible.The automatic path planning and motion control are key technology in the mobile robot research. The researches indicate that an ideal result is hardly obtained using single method to solve the path planning problems in dynamic complex environment except combining two or more methods. With the instruction of this thought, a new method named as rolling windows path planning based on the behavior dynamics is presented in this paper which combines behavior dynamics method and rolling windows algorithm. In the paper, this method is used to solve the problems of path planning of mobile robot in uncertain dynamic environments and validated by the simulative and experimental results. The mainly comments and achievements of the paper are as follows:1. A new arithmetic named as rolling windows path planning based on behavior dynamic is presented, this arithmetic embodys global optimization in local path planning when robot is real time path planning in local environment.Furthermore the navigation dynamics model makes path planning of robot be good continuity.2. Aim at obstacles in rolling window,a new method of obstacles virtual synthesis is presented,which synthesizes obstacles in window as a virtual obstacle .This method reduce the computational complexity of obstacle's dealing, accord with the real fact and is convenient to choosing parameters of robot's obstacle avoiding dynamics model.3. Aim at the dynamic obstacles in rolling window, a "obstacle resting management" method for dynamic obstacles is presented, the dynamic obstacle is looked as a static one temporarily. This method reduce the computational complexity and difficulty.4. The kinematics model of a four-wheel omnidirectional mobile robot is designed and analysized.5. The implementation of the arithmetic presented in this thesis is studied based on the hardware AGV-1. The control software for path planning and kinematics model based on VC++ and MATLAB is programmed and is used to verify the correctness and validity of the arithmetic and kinematics model. The results show that this method is practicable.