The Robot Path Planning Principle And Application

Path planning problem is one of hot issues in the robotic research during recentyears.Firstly, this thesis surveys the relevant achievements in the world and many kindsof robot path planning algorithms at present have been summarized. Secondly, theelastic band algorithm is introduced in detail. Thirdly, a novel path planning algorithmbased on elastic band algorithm is proposed. Finally, this algorithm is applied into3-axishanding device.The original elastic band algorithm was widely applied in solving the TravellingSalesman Problem (TSP). Recently, some authors tried to apply the algorithm forsolving the path planning problem and have gotten some good results. Since thesemethods also have some disadvantages such as high randomness and large iteration, thisthesis proposed a new robot path planning algorithm based on elastic band method. Thealgorithm includes following steps: Step one, a linear elastic band is used to representthe path from start to end. The whole band is divided into many sub-bands according tothe number of obstacles which the band moves through. Step two, Pull or push eachsub-band to leave the obstacle and get an initial path. Step three, release the initial pathto generate the final path. The computer simulation results show that this algorithm isefficient and can get path in real time. The method and conclusion in this thesis haveboth theoretical progress and reference value in application.