Research On Obstacle Avoidance Of Mobile Robot And Hunting Of Multiple Mobile Robots

Mobile robot is an integrative system that gathers these functions of sensing environment, dynamic decision-making, controlling and executing behavior and so on in it. Compared with many other kinds of robot, mobile robot is being studied by more and more scientists and researchers because of its wider application space. In this thesis, micro-soccer robot system is regarded as the research platform, and the single mobile robot's path plan method for obstacle avoidance is studied deeply. Then, the system structure, decision-distributing and pursuit-evasion game of multi-robots cooperation are researched based on the mobile robot path plan method for obstacle avoidance.The research of single mobile robot's path plan method for obstacle avoidance includes obstacle avoidance for static-obstacle and obstacle avoidance for dynamic-obstacle. In the static obstacle avoidance part, the global grids method, the local artificial potential method which has been improved, and the grids potential method which combines the strongpoint of the two above are studied respectively. Then the avoidance path and runtime of these three methods are compared. In the dynamic obstacle avoidance part, the move vector of obstacle and its position relative to mobile robot are introduced into the obstacle avoidance information. The new artificial potential arithmetic takes the move information of obstacle into account adequately and uses the repulsive field function whose parameters are adjustable. So, it can adjust the intensity of repulsive field aimed at the different move information of obstacle, can solve the default of the conventional artificial potential method effectively, and can enhance the efficiency of path plan remarkably.The main study of multi-robots cooperation in this thesis is the research to system structure and cooperation strategy of multi-robots system. The pursuit-evasion game is regarded as context. The hunters and the prey are treated equally and the intelligent escape arithmetic is designed strictly, and the hunters implement the cooperation in the precondition of that they don't know the strategy of prey.In the fifth chapter of this thesis, the kinematics model of the two wheels mobile robot is studied, and the application of variable structure sliding mode control in the mobile robot's path track is probed into pilot study. The summary of the full text and the view of mobile robot research in multi-robots cooperation and path track have been shown in the end of thesis.