Build And Path Planning For Mobile Robot Simulation Platform

In this paper, the development actuality of wheeled mobile robots and the basic theory of nonholonomic system have been introduced firstly and the kinematic model of a kind of wheeled mobile robots with nonholonomic constraints is given. And then, based on the above model, using Borland C++ Buidler 6.0 and multiplexing, a simulation system is established to simulate the movement of wheeled robots. Finally, the study of the path planning of mobile robots in the static complicated environment has been done on the established simulation system, three kinds of algorithm for the path planning in the environment without obstacles, and one kind of algorithm for the path planning in the environment with obstacles have been proposed, and some simulation results have been obtained based on the established simulation system. The simulation results show that the above system has some advantages as following: simplify operation, easily function extension etc.