Ground Mobile Robot Path Planning And Monitoring Command System Realization

Currently, with more and more military and civil implementations of mobile robots, higher capability of autonomous navigation is required. In a autonomous navigation system, path planning fulfills the duty of finding a sequence of safe actions for the given task in all kinds of environments.At the beginning of this thesis motion of the robot in the working space is introduced and a non-fixed local map method which settles the conflict between map precision and limited storage space is given. Then gives the methods of how to create a configuration space .Introduces the nonholonomic constrains and how to implement it in a discrete space. A short-first path planning method "A-star" and a safety-first method "potential field" are both implemented in the decomposed configuration space. Experiments results show that both methods can give a nonholonomic, collision free and smooth path.Because of the immaturity of autonomous navigation in complicated environments, at the end of the article a remote supervision and control system is introduced. Humans can assist robot to achieve its goals via this system by giving tasks and controlling its motion based on the observation of the environment of the robot.