The Study Of The Robot Path Planning Algorithm

Mobile robot technology involved fields and Disciplines. The way of control have became a lot. The robot’s function tends to be comprehensive and performance has been constantly improved. So the applications have been wide.This paper mainly studies modeling method and the method of path planning. In the static area the modified grid method adds a new judgment of energy. In dynamic area the modified Voronoi chart was used. These midpoints guided robot motion direction. To avoid obstacles and the path optimization can be achieved. Path planning algorithms included the traditional artificial potential field method, ant colony algorithm, A-Star method, and modified the A-Star method and artificial potential field, and obtained good effects.Part of single robot path planning problem detailed modified artificial potential field method retained its original advantages, such as simple and easy transplanting in static dynamic environment. The modified A-Star method can realize the robot independently chosen tracks of the least energy consumption direction in dynamic area. Comparing the advantages and disadvantages of three methods, the final decision will transplant modified artificial potential field method to robot simulation experiments and record the results of the analysis.In the part of multi-robot path planning problem, in static area, modified A-Star method is used for simulation of multiple mobile robots system. Results show that the modified A-Star method shortened the path length and enhanced the operation efficiency. In the dynamic field, results show that modified algorithm can fuse modified Voronoi chart method. Multiple mobile robots system work efficiency was improved.