Autonomous Mobile Robot Path Planning Method

With the rapid development of computers, microelectronics, information processing and intelligent control, robot technology is gradually in-depth and detailed. As an important area of robotics, more and more attention is paid to the mobile robot, whose research field has related to mechanical engineering, computer, sensor technology, machine vision, automation, artificial intelligence and many other disciplines. Among them, path planning for mobile robotics is a key issue. The problem is that how to find a colision-free path from the starting position to target position according to certain evaluation criteria in a barrier environment. Thus the following studies about global path planning of mobile robot are conducted in this paper:Firstly, brief review and introduction of mobile robot's development history and research is presented. The research status of mobile robot path planning is described with the summary of home and abroad literature. Moreover, the theory and study method of robot path planning is introduced in detail.Secondly, the Simulation Algorithm experiments of robot path planning is carried out in the VC environment. Grid method is used to model by simulating robot environment, and the grid size depends on the size of the robot itself. The 10 x 10 grid is used to simulate robot's work environment, and the free grid is claimed if there is no obstacles in the scope of this grid, otherwise barriers is claimed. The genetic algorithm is used to search path, and it is determined by the shortest path as the evaluation criteria. Moreover, the variety of operators is increased to enhance the search performance of genetic algorithm path. If the initial and target position of the robot is determined and remain unchanged, the simulation experiments is carried out and a good results of path planning is achieved through the obstacle grid position set arbitrarily.Finally, an experimental study is performed by using the above path planning method applied to the AS-R Ability Storm Robot. AS-R robot is a two-wheeled driven indoor autonomous mobile robots, and it is a modular structure, with the development of open experimental platform. However, AS-R robot only has some simple experimental procedure with itself, but for some important research issues of robot, as robot path planning and so on, users should develop that themselves. A square area is taken to rasterized in the plane, and taking into account the actual size of the AS-R, and each grid size is 50cmx50cm, and 5 x 5 grid-based map is obtained and used as the operation of AS-R Space. The genetic algorithm is used to research path. In the experiment, a collision-free, shortest path was able to find under the circumstances of setting up obstacles randomly. Moreover, the path planning proceeds is used by AS-R robot whose motion is controlled, and thus the robot path tracking is well achieved. These illustrate that this path planning method is feasible for the actual robot path planning can achieve effective results.