Research On RRT Algorithm Of Path Planning For Autonomous Mobile Robot

Robot motion planning technology is one of the core technologies of mobile autonomous mobile robot navigation; path planning technology is one of the key subject navigation technologies. The path planning task is:on the basis of certain evaluation criteria (such as the shortest distance, the shortest time, working cost minimum and so on),in an obstacle environment,seek to begin and end a path from the initial point of the optimal collision free path.This paper aims at combining the path planning for autonomous mobile robot in real environment for research and design.The paper first analyzes several typical path planning algorithm for mobile robot, and the advantages and disadvantages of each algorithm are summarized. The rapidly exploring random tree (RRT) algorithm and the RRT-ConCon algorithm in depth study, puts forward two improved algorithms, to improve the stability and efficiency of the algorithm. The specific innovations include the following aspects:l.The rapidly exploring random tree (RRT) algorithm is lack of stability and the slow convergence problem; reference to target searching strategy, this paper presents a path planning algorithm. The algorithm used to target search strategy, the search tree can grow in the direction toward the target; the algorithm introduces random node generating function and the step size adjustment function, effectively avoid the obstacles, to avoid the path into the local minimum and speed up the convergence path.2.The bidirectional RRT lack of stability problem, this paper presents a path planning algorithm RRT-ConCon algorithm based on the improved bidirectional search. The algorithm combining RRT-ConCon algorithm with biased target search combining, by constructing the change process of the search tree,to improve the stability of the algorithm, while ensuring the algorithm convergence speed. At the same time, the algorithm introduces random node generating function effectively avoid obstacles, to avoid the path into the local minimum.3.For the establishment of the required working environment, a simulation environment using Matlab development platform design. The main function of this platform is to draw the required working environment, facilitate the path planning algorithm simulation test. The platform also provides the algorithm interface an open, so that the path planning algorithm simulation experimental platform applied in various types, expanding the range of use of platform.The simulation platform, simulation results on path planning algorithm is proposed. The experimental results show that, the proposed algorithm is feasible and stable.