| Mobile robot is one kind of high intellectualized machine system. It has many functions,including environment sensation,dynamic decision-making and Planning,Behavior control and execution,etc. Mobile robot navigation is an important direction of the robot study,and the path planning is the basic Point of robot navigation. In this paper,the path planning of single mobile robot and multi-robots under the static and the dynamic environment is mainly studied. The main work result includes:1. The guidance technology which is closely relative with path planning problem is studied. In addition,the existed path planning methods are sorted and summarized. All these make a good preparation for the research on the path planning problem of mobile robot.2. In view of the single robot path planning, base on the traditional artificial potential field method, proposed an improved approach - construct a new repulsion potential field function, as the robot reached the goal point to the smallest repulsion, this approach has overcome the defects that robot can not reach the goal point under the gravity and repulsion, optimized the path. And aims at the artificial potential field method inherent local minimum question, proposed the artificial potential field method and the follow_wall behavior unify solution. Finally, the follow_wall behavior is improved.3. Unknown for the environment in case of multi-robot path planning, proposed the artificial potential field method and many kinds of conflict solution unifies path planning method, when the robots do not conflict, each robot plans its own path according to the artificial potential field method, avoids the static obstacle in the environment at the same time to the goal; When detects conflict with other robot path, according to the priority of different robot to develop a number of rules of conflict resolution, artificial potential field method is used in obstacle aboidance behavior, and it has solved the multi-robot's real-time way plan problem. |
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