Research Of Mobile Robot Navigation Control In Building Environments

Based on supersonic and infrared information, a navigation control method for mobile robot in building environments is proposed.Grid method is used for the map modeling of static building environments. Based on that, a classic heuristic search method - A~* method is applied to search the path. As far as the "8-field" reason of the grid method is concerned, the path searched by A~* method is not optimal. Based on the thoughts of "Visibility Graph", two new methods, "No Obstacle Drawing" and "Inflexion Collection" are presented to break the limitation of grid. Then the goal of optimizing the path is achieved.Using the supersonic and infrared information, based on the thoughts of "BUG" methods and "Visibility Graph", a new dynamic obstacle avoidance method is proposed, which is on principles of "Target Oriented Decision" and "Closest Orientation Decision".Based on setting the inflexion of the static path as step goals and using the dynamic obstacles avoidance method to generate step paths, the robot can be driven along the step paths, one by one, until it reaches the final goal.Guided by the methods presented above, experiments was been done based on mobile robot UP-Voyager II in really building environments. And the algorithm proposed in the paper was testified by experimentation.