Research Of Mobile Robot Path Planning Based On Different Environment

With more advanced researches on robotics, the research focus of the contemporary robotics has turned to the mobile robots, which have mobility and intelligence in a certain degree. And the path planning of mobile robot is its most basic part. This paper has been dominated by different environment, and then emphasizes on the algorithms about path planning and improves some algorithms.Firstly, the immune algorithm based on the novel fixed-length real number encoding mechanism is used to solve the path planning problem in a static environment. At the same time, narrowing the search space on the basis of the obstacle location information would accelerate the convergence rate of the immune algorithm.Secondly, in dynamic nondeterministic environments the POMDP and APF are combined into the new path planning, which would take full account of the uncertainty of the information. By the APF’s advantage of avoiding the expensive computation, it guides the setting of POMDP’s rewards value to improve the efficiency of making decision.Then, the problem of multi-robot path panning is considered in dynamic environments. The architecture of multi-robot, composed of centralized and distributed combination, can weaken some failings of bad global properties in distributed environment and worse real-time in centralized environment.Finally, the Theta*algorithm is improved to solve the path planning problem for mobile robot. The repulsion, which is generated by the obstacles on the robot, is added to the heuristic function as a penalty function. And with the weight of the penalty function was chosen, the heuristic function has also been identified. In the end, they were tested not only in the2-D coordination simulated environment but also in the3-D complex environment.