Research On Path Planning And 2D Map Building For Mobile Robot

The technology of Mobile robot involving machinery, electronics, computer, control, bionics and many other fields. And the key technologies including control a-rchitecture, the mobile platform design, path planning, motion control, environme-ntal perception and information fusion, etc. Along with the development of relevant s-cience and technology, the technology of mobile robot has been successfully applied in industrial, transportation, services, medical rehabilitation, defense and aerosp-ace, and so on. This research mainly focus on the path planning for mobile robot and 2D map building in indoor environment. At the same time, basing on Dr Robot X80 Pro wireless intelligent robot experiment platform, developed control interface using C# in VS programming environment.Based on the odometer, robot localization through difference control algorithm, this system can obtain the position and orientation of itself at any time, and can be a-pplied to Dr Robot X80Pro wireless intelligent Robot experiment platform successfull y.Path planning is a processing of designing relative safe and optimized path by m obile robot from origin part to destination part in the condition of obstacles. In this pa-per, the principle of traditional artificial potential field method and the existing prob-lems are analyzed and improved, and repulsive force function to the distance betwe-en the mobile robot and the target. Furthermore simulation experiment is taken by M-ATLAB, and the result comes out that, traditional method can’t solve the problem of local minimum point completely, and would induce oscillation. Aiming at the existing problem of local minimum point, this system can avoid this problem cause by zero r-esultant force, before arriving at the destination, through amending the direction of re-pulsion force. MATLAB simulation results show that the algorithm is effective, and a successful path paining also showed experimentally, when applied to Dr Robot X80P-ro wireless intelligent Robot platform.Based on laser rangefinder, two-dimensional map creation in real time in indoor environment includes scanning data segmentation and laser data point set matching. Through adopting the dividing method of Euclidean distance between laser data poin-ts, taking the right domain for scanning data segmentation, pick useful information a- nd delete outside interference information. Laser data point set matching is to make p-ublic part of two data sets mainly coinciding, through solving search and transform p-arameters of focus corresponding point of adjacent two laser data points, and through matching two group laser data point of parameters transforming. When this algorithm was applied to Dr Robot X80Pro wireless intelligent Robot platform for indoor two-d-imensional real-time map building, the experimental results show that map building tasks can be achieved accurately and effectively by Robot.