Study Of Mobile Robot Path Planning

Robotics is an interdispline rapidly developed in these four decades, which is based on the new production of various disciplines, such as Mechanics, Electronics, Cybernation, Artificial Intelligence and Bionics. Robotics represents the tiptop achievement of Mechanics&Electronics and is one of the most active subjects in today's technology.Robot path planning is an important offset research field of robotics. The definition of robot path planning is to find a path from the starting position to the target which satisfy some optimization rules, such as lowest consume, shortest length, shortest time. It is an important technology of the robotics application. A mumeber of scholars are committed to research in this area, but so far the issue has remained improperly settled.In this thesis, an intensive study has been made to this issue and the main contribution is as follow:Firstly, AI-Based Optimization Method is studied, especially about the Ant Colony arithmetic. For the contradiction between pheromone and heuristic function in the Ant Colony arithmetic, this paper rebuilds the heuristic function.Secondly, this paper point out the intrinsic disfigurement in the conventional Grids method. In conventional Grids method, the security and optimization can not be ensured in the same time in any algorithm. For this, this paper puts forward a new method, using the hexagon to plot the grids.Lastly, conventional artificial potential field method is studied. It is one of the most effective methods in robot path planning technology, but also exist some intrinsic disadvantage. For example, the trajectory will severely zigzag when facing an obstacle. Some effectual improvements are brought forward in this paper.