Path Planning In Complex Environment For Mobile Robot

With the application of the mobile robots in the space and deep sea exploration more and more widely,the path planning of mobile robots in complex environments gets more and more attention.In recent years,the robot path planning is always taking the strategy avoiding obstacle,while is it true in practice?Based on the problem,this paper takes ours research.combining with the way how the man decide to operate a remote control robot and considering the attitude stability of a mobile robot in path planning,to propose a new idea of path planning.The research in this paper can divided into two parts.the first part is proposing a new method considering the attitude stability of the mobile robot which is different from the other methods.This method take the strategy of rolling over the obstacle to complete the path planning in some presume.Caulculating the corresponding paths’s cost based on the cost function,and competing with the general method,we testify the effectiveness of this method;the second part does some research on mobile obstacles or moble target in complex environment,we explain the basic theory of PSO swarm algorithm,we build the dynamic penalty function for the mobile obstacle and target,simulating vary situation by PSO swarm algorithm at last...