Optimal Robot Path Planning To Satisfy Different Mission Requirements

Path planning is one of the key technologies in the field of mobile robot.Nowadays,the research of mobile robot on this topic mainly focuses on the study of the algorithm,but the research involving the application of mobile robot path planning is quite few.There are still many technical problems that need to be solved.For example,the traditional path planning technology focuses on the navigation of point to point,which is a single mission mode and unable to satisfy more complex tasks.Therefore,the study of path planning method,which can achieve the requirements of different tasks,has broad application value and theoretical significance.Linear temporal logic(LTL)theory can provide a formal high level language in which to describe a complex mission so that the environment information and the mission requirements can be fused together effectively.Based on the LTL theory,the path planning method which can satisfy the requirements of different tasks is investigated in this thesis.Firstly,the path planning method of warehouse robot based on LTL theory is proposed in this thesis.It can reduce the complexity of path planning by setting up a flexible and extensible warehouse environment model.Moreover,it can search the optimal path satisfying the warehouse task requirements.Secondly,because the method based on LTL theory is still not suitable for dynamic environment which is very common in the application of mobile robot,the LTL-A~*-A~* optimal path planning method adaptable to dynamic environment is proposed.This method combines the global path planning method based on LTL-A~* algorithm with the local path planning method based on A~* algorithm.It can not only improve the efficiency of the global path optimization,but also adapt to the dynamic environment.Thirdly,to verify the effectiveness of these methods,an experimental robot navigation system platform is designed and achieved.It contains the following modules,map building,robot localization,path planning and motion control.After that,the effectiveness of the mobile robot path planning methods proposed in this theise are verified by setting up the corresponding simulation environment on the platform and integrating the target tracking control strategy.Finally,to accomplish the patrolling mission of collecting and uploading data by two robots synchronously,the cooperative path planning of two robots is implemented on the experimental platform by using the optimal multi-robot path planning method based on the theory of LTL.The experimental results provided in this thesis demonstrate that the path planning methods based on LTL theory that are studied and implemented in this thesis can optimal the path to satisfy the different mission requirements.