Motion Planning Research Of Mobile Industrial Robot

With artificial intelligence playing the main role of economic development, the robotautonomous motion planning is an important area of research, so it not only can eliminatesthe manual operation of the motion planning of tedious work, and reduce the human error, butalso can improve efficiency.With the background of the intelligent robot control technology, according to theproblem of mobile industrial robot motion planning, including the manipulator end trajectoryplanning and mobile robot path trajectory planning, I carefully studied and researched theextensive literature review and status of these problems. Also, I research much of theory andapplication on the genetic algorithm, rolling optimization and artificial potential field method.Through lots of related engineering projects，I learn and practice of the system hardware andsoftware design knowledge and technical skills, etc.For the current research popular direction, from the viewpoint of engineering practice,this paper uses the improved adaptive genetic algorithm to optimize the trajectory of themulti-joint manipulator end, that trajectory meets under the condition of all joints constraintsand the optimal objective function, from the initial points to the target point, plans the optimaltrajectory control strategy, and avoids collision with obstacles. For the robot motion trajectoryplanning, this thesis uses mixed integer linear model predictive control and rollingoptimization control method strategies to achieve the optimal precise trajectory, In thismethod I introduced in the analog auxiliary artificial potential field force in order to controlrobot planner together with the old method, so the robot planner is able to find the optimaltrajectory under the various performance and condition constraints, to avoid obstacles and toachieve the minimum time trajectory optimization, etc. Computer simulations and test showsthat these methods are very successful planning effect to the robot expected requirements.These trajectory planning methods this paper studied is of high value for engineeringapplication.The thesis finally designs an implementation system for robot path planning function.This system can get and process the data which robot needs to plan the best path, includingfunctional modules design, hardware and software design, etc. The design uses specialized image processing DSP chip, which can satisfy the large-scale calculation of the image, etc.