The Research For The Mobile Robot Path Planning Algorithm

With the rapid development of technology, especially the computer technology,the mobile robot technology has been rapidly developed and widely used in industrial,agricultural, military, medical and service industries. Robotics represents the highest achievement of mechatronics, which is one of the most active fields in the domestic and foreign science and technology development. The path planning of mobile robot is the core technology in navigation process and attracts more and more scholars’ attention.Firstly, the article makes a summary about the direction and trends of mobile robot,and then models the IN-RE-type mobile robot, clarifies the structure model of the robot,motion model and introduces related positioning technology.When the environmental information is known, artificial potential field, as one of the classic path planning method, has been widely applied because of its simple structure and easy to underlying real-time control, but there is a problem of local minimum. In this paper, the function of the repulsive force model is improved,introduces the relative distance factor between the mobile robot and the target point in the new repulsion function. the experimental results show that the improved artificial potential field method can effectively solve the problem of local minimum.When the robot is moving in an unknown environment, path planning become a kind of uncertainty action. The article puts the thought of behavior control and Fuzzy control algorithm together, then the basic behavior of the robot is divided into avoidance behavior and tend to target behavior, after the integration of the controller output, the robot finishes basic movement and path planning. In the MATLAB simulation platform and experimental environment, which show that the robot inunknown environments can plan a safe and effective avoidance path and move to the target point. The simulation show the behavioral priority fuzzy control thought is valid.