Study Of Obstacle Avoidance Method Based On Improved Behavior Coordination For Mobile Robot Towards The Virtual Target

With the rapid development of the technology, the robots are widely applied in various fields. The needs increasing of autonomous mobile robot with the ability of environmental awareness and autonomous path planning. Autonomous mobile robot as one of the research hotspot have been widely studied. Due to the environmental uncertainties, static and dynamic obstacles, obstacle-avoiding path plan of autonomous mobile robot should be able to guarantee the collisionless accomplish the task. Therefore obstacles modeling method in unknown environment and the mobile robot obstacle avoidance planning in unknown environment becomes the key issue. Obstacle avoidance planning algorithm can ensure the robot avoidance obstacle and to reduce the rotation of the robot. This thesis provides some solutions to these problems.Firstly, the obstacles modeling method under unknown environment is considered. Combining with the principle of polar coordinates vector method to express the information gained by the laser range finder. Using the method random obstacle group to model the local environment and model the obstacles. If two obstacles spacing is less than the safe distance then to merge them, to obtain the final model of the obstacles. The advantages of this method is simple and less memory.Secondly, the steering capacity of robot in the process of obstacle avoidance is considered. Basis of the existing behavior dynamics combining velocity obstacles to further improve the steering ability of the robot. To meet the conditions of mobile obstacles, the robot cannot successfully avoiding movement obstacle problem may come up, combined with the existing behavior dynamics, design a new obstacle avoidance behavior: moving obstacle avoidance behavior and move to virtual target behavior. Through MATLAB simulation shows that the proposed improved and new obstacle avoidance behavior to ensure a safe distance under the condition of safety to avoid obstacles.Finally, the behavior coordination problems in the process of obstacle avoidance is considered. Behavior coordination as the indispensable part in behavior dynamics, and based competition behavior coordination method has many disadvantages. So propose particle swarm optimization(PSO) algorithm as the behavior coordination algorithm. Design appropriate evaluation function make coordinate algorithm can have good effect. Behavior right values influence the size of the direction angle. Through comparing the simulation results, verify the efficiency of the algorithm.