System Design And Research On Path Planning Arithmetic For Vision Robot

Vision robot is an important research field of intelligent robot. With the continuous progress of robot’s technology, the robotics becomes more and more powerful. For the diversity and complexity of the environment, path planning has being an important aspect in the intelligent robotic research field and also a crucial technology to robot intelligence. The chief task of the path planning is:when the intelligent robot is running under the environmental space, it is usually asked to seek one of optimal path which would link between the known start point and the known end point. That is to say that we at least could find the avoid-colliding path which should be shortest or lowest cost.The thesis first gives a brief review to the development and the research situation at home and abroad of robotics, and then introduces the background of research areas of the subject and the significance of the subject. Then, chapter2introduces the key technologies, the systematic structure and the research method of intelligent robot. In chapter3,it discusses the structure of embedded intelligent robot system based on ARM+Linux, then describes the system design in detail. Chapter4firstly introduces the GA(genetic algorithm) theory, then According to the characteristic of path planning problem, every component of the genetic algorithms are analyzed carefully, including environment representation, chromosome representation, path evaluation, genetic operators design and GA parameters selection, and then designs the path planning arithmetic. Finally, simulation programs are compiled to validate the algorithm.The simulation results show that this algorithm is able to select the best path rapidly in any complex environment only if the path exists, and verify the validity and efficiency of this algorithm.