The Mobile Robot Planning And Cooperation Algorithm Research

RoboCup is a complex robot emerging research field, including mobile robot navigationbased one of the key technologies and the path planning which is an important content ofrobot navigation. The path planning is to find a way to target the possible route, and the pathis out of touch and reached, or even the path is the second best. If the path planning containsmultiple robots, each robot not only planns its own path, but also considers other robots’influence, which requires robots cooperation planning to each other.This paper is mainly on the basis of the previous studies in Robocop competition, as thebackground, some major work has been done as the following:Firstly, the robot’s competition platform is studied. The main content and algorithm arestudied by analysing robot small-size competition, which is the basis of the next text aboutsome algorithm research of robots.Secondly, the small-size mobile robot path planning and path tracking algorithmproblems are researched. This is also one of the important rbot’s system structure decides howto organize, communicate, storge infomation and coordinaesearch navigation links and subject.Path planning problem mainly involves these problems: how to find a start state to target statefrom the optimal or suboptimal no touch path on the basis of reasonable modeling up; how toreduce the influence of the external environment for robots; how to use the knowninformation to guide the robot’s move and so on. Because of the path planning based onglobal information have a high demand and do not fit the actual situation, this paper putforward based on the scroll the window mobile robot path planning method. According to therobot’s moving, this method will make the whole path planning true by a window, whichmakes itself as a center and use sensor’s max range to form. Next stage I will research therobot’s path following control. And.A path tracking algorithm is put forward based oniterative learning. And this algorithm improve the error convergence efficiency.Finally, the multi small-size robots cooperation formation planning algorithm is studiedtoo. The small-size robot formation refers how to generate a fomation, keep theformation,obstacle avoidance and regenerate firmation problems. So it is a typical cooperationplanning problem. An algorithm is put forward based on the leader and the decompositionbehavior mixed, which makes the requires of generate formation, obstacle avoidance andformation swap satisfied. And this method is proved by simulation.