Research On Robot Path Planning Algorithm

The advances of industrial and information society have made the robot technology with an unprecedented development, which also made more and more business combine with the robotics. As one kind of robot, mobile robot has been applied in a variety of particular environment which is not conducive for human beings. In recent years, how to improve the path planning capacity of mobile robot is a hot research issue in academic and industrial. What is the path planning for mobile robot? That is to find a no collision path from the starting point to the target point for the mobile robot in an environment, particularly for the mobile robot without human intervention of voluntary movement, which requires a variety of intelligent algorithms into the control system of robot to make the mobile robot do judgments and decisions by itself. This paper conducted in-depth study to the path planning methods of the mobile robot. The mainly important work is as follows:Firstly, under the condition of a lot of literature and research results, the paper presented a kind of mobile robot’s path planning method basing on the fuzzy logic control. According to the robot walk model, it designed a two-tier fuzzy controller. The first tier is fuzzy control of corner, which is to control the steering of the mobile robot. The second tier is fuzzy control of step, which is to control the each step for mobile robot’s walk. The paper also developed fuzzy control rules, which were used to as the obstacle avoidance strategy for mobile robot during the movement. It also simulated the obstacle avoidance realizations of mobile robot under a variety of static unknown obstacle environment and dynamic obstacle environment, which are proved the validity of algorithm designed.Second, with the hardware development platform of UP-Voyager II mobile robot, this paper designed a set of mobile robot motion control system. The application layer of the system is developed by VC++6.0. The whole system mainly contains three layers, which are hardware communication layer, command protocol analysis layer and behavioral decision layer. In the behavioral decision layer, it realized the hybrid programming of VC and MATLAB by MATLAB engine technology. And by calling the MATLAB engine functions, it applied the fuzzy controller designed by MATLAB to motion control system of mobile robot.Finally, using the mobile robot motion control system, the mobile robot came true to avoid the obstacle in the real environment. It also verified the effectiveness of the algorithm.