The Research Of Mobile Robot Path Planning And Path Tracking

The mobile robot is the robotic system with highly self-planning, self-organizing, andadaptive capacity, which is suitable for the complex unstructured environments. Relatedtechnologies in the mobile robot, the navigation and positioning technology has become thecutting-edge and hot in the field of mobile robot research. In this paper, the research about theissues of path planning and path tracking has been carried out and obtained the funding of thebasic project operating expenses of Central universities of South China University oftechnology and the horizontal project-the R&D of service robot for teaching andentertainment.This thesis studies the principles and algorithms of the artificial immune system,described the main research applications, and focused on analysis of the immune mechanism,just as the immune memory, immune network, immune feedback and clone selection etc. Atlast, the design methods and process about general immune algorithm has been introduced.Based on comparing the current path planning algorithm, we study mobile robot pathplanning method based on immune algorithm. Then, we proposed an immune algorithmcombination of three algorithms thought which are negative selection, vaccination and clonalselection immune algorithm. The clonal selection maintains diversity of population, preventslocal convergence, vaccinates increased antibody affinity, and speeds up the convergence.MATLAB simulation has verified the validity of the method.The thesis studies mobile robot path tracking system based on the PID controllerparameter tuning. Then, we set up the robot’s kinematic model, and designed a mobile robotclosed-loop motion control systems, and give a PID controller parameter tuning method basedon immune genetic algorithm. MATLAB simulation has verified the PID parameters tuningmethod is reasonable.The thesis designed and manufactured a mobile robot platform which used to do experiments. The robot navigation application software was developed with visual studio.net2005and the software which the thesis used to complete the experiment of mobile robot navigation was developed by MATLAB and C#language programming.Some conclusions can be showedby experimental results: the mobile robot can plan an optimal path in the environment which e xists complex obstructions; the mobile robot can complete the navigation task and achieve high tracking precision path tracking.The research findings of this thesis can improve the ability of mobile robot obstacle avoidance and the research findings have been used in the welcome service robot which was developed by our project team.