Research On Path Planning For Autonomous Mobile Robot In Complex Environment

Path planning is one of the key technologies in the application of mobile robots, and itis also an important subject in the field of the mobile robot research. In this paper, the mobilerobot path planning problem is studied and discussed, including global path planning andlocal path planning in complex environment, the voyager Ⅱ mobile robot as researchplatform. Combining with the advantages and disadvantages of global path planning andlocal path planning, a hybrid path planning method is proposed in this paper.In this paper, the main research contents are the following:1. Grid algorithm is used in the environment space modeling, an optimal path isobtained by using the weighted A*algorithm in grid environment. This method can not onlyensure the optimal path when the mobile robot global planning, and relatively Dijkstraalgorithm computational complexity can also corresponding reduced.2. The defects of traditional artificial potential field algorithm are outlined in this paper,and then, the improvement of artificial potential field algorithm was put forward. As theproblem of destination unreachable，it is solved by introducing a new repulsive forcefunction. As the problem of local minimum point, it is solved by adding a virtual goal formobile robot to escaping local minimum point. This method is used in the simulationexperiment of mobile robot path planning.3. A hybrid path planning method is proposed by analyzing the advantages anddisadvantages of global path planning and local path planning, this method is based onWeighted A*the global path planning and improvement of the artificial potential fieldalgorithm of local path planning. This method is used in the simulation experiment, Thesimulation results proved our method is feasible and efficient.