Research On Path Planning Of Mobile Robot Based On Environmental Map

Path planning is the key technology of mobile robot and the hotspot of the certain research domain. The chief task of the path planning is: when the mobile robot is running under the environmental space, it is usually asked to seek one of optimal path which would link between the known start point and the known end point.This paper first briefly introduces the research and development of mobile robot about path planning, and summarizes domestic and international method about path planning of mobile robot.Then this paper introduces Delaunay graph into path planning for mobile robot. Delaunay graph is used for modeling the working space, an approximate shortest path of mobile robot is determined by using Floyd algorithm. Path can be found easily with adaptive genetic algorithm by adjusting the parameter. In the running of the robot, robot adopts a forejudged method to avoid collision with dynamic obstacles whose track is known. Results of simulation show that adaptive genetic algorithm by adjusting the parameter improves the shortcomings of the basic genetic algorithm. The path planning method saves searching time and shortens robot's path.This paper introduces Voronoi graph into path planning for mobile robot. Voronoi graph is used for modeling the working space, an improved Dijkstra algorithm is used for getting the shortest path. After robot finds new obstacles when it runs along the shortest path, we need structure local Voronoi graph. Robot may avoid the new obstacles when it runs along the local Voronoi graph. Results of simulation show that improved Dijkstra algorithm needs less calculation than classic Dijkstra algorithm, local Voronoi algorithm saves more time than global Voronoi algorithm.Finally, this paper introduces multi-robot's path planning about Voronoi graph. A wait and make way method about priority is used for avoiding collision. Results of simulation show that robots can avoid collision each other, and the method is simple.