The Research Of Autonomous Mobile Service Robot Path Planning Method

The independent mobile service robot is an important branch of intelligent mobile robot.Service robot is a kind of robot system which works in known environment and concrete task. Its feature is more independent and designed to serve for people. Nowadays, the development of the service robot has become the inevitable developing trend of robotics research. The development of robot technology reflects the level of a country’s high-tech and industrial automation. The study on mobile robot path planning has being an important aspect in intelligence mobile robot research filed. Mobile robot path planning is the foundation of mobile robot’s practical application. Therefore, the research of path planning is critical important and a necessary factor.The primary works in this paper are presented as follows:1. Common used planning algorithm in our country and abroad and its researching situation are elaborated and summarized. The mobile robot path planning technology is briefly described. The prime algorithm of path planning is discussed in this paper. It has great meaning on theory and in practice.2. This paper introduced the use of a number of mobile robot path planning methods and a comparison study is conducted based on categorized algorithms. The basic theory of the commonly used methods are elaborated and their advantages or disadvantages are analyzed.3. This thesis proposes the algorithm respectively using grid method and artificial potential field for the research of robot’s path planning. And the simulation for the mobile robot path planning problem based on MATLAB is simulated. Simulation results demonstrate that the proposed method performs path planning very well. It is proved to be optimal and satisfying the requirement of the practical environment.4. Aiming at the shortages of the A*algorithm, this thesis proposes the improved A*algorithm. A*algorithm and improved A*algorithm are used in mobile robot path planning. The experiments are based on VC++and it is proved that the improved A*algorithm is better than A*algorithm. The method realizes optimal path planning through improved A*algorithm. The path of the robot is proved to be optimal and satisfying the requirement of the practical environment. The effectiveness of this method has been proved.5. The full text is summarized and mobile robot path planning problem based on the current research results is prospected.