Research On Path Planning For Cushion Robot

Service robot technology has entered many aspects of social production and life,and it is very important.Path planning can ensure the robot to avoid collision obstacles in the process of movement,even search for a more reasonable path according to a performance index,it is the key to the continuous improvement of service robot technology.There are both known and unknown information in the working environment,it is necessary to carry out the path planning according to the characteristics of the two situations.In order to improve the work efficiency in known environment and safety in unknown environment,this study mainly discusses the path planning problem of cushion robot,a hybrid path planning approach which integrates particle swarm optimization in known environment and fuzzy logic algorithm in unknown environment.Main contents are as follows:The motion process of the cushion robot is described,and the equation of motion is established,at the same time,the path planning strategy of the cushion robot is analyzed.For the global path planning problem,this study searches for the shortest path without collision.Firstly,the Dijkstra algorithm is used to search for the initial shortest path by establishing the MALINK graph,the geometric relationship guarantees collision free.Paths are optimized using the original particle swarm optimization algorithm and the improved algorithm respectively.Simulation results show that the improved method can obtain the global optimization of the shortest path and improve the success rate and efficiency of the algorithm.For unknown environmental information,the fuzzy logic algorithm is used to realize the real-time local path planning.Taking into account the convenience of the interaction between the sensor and the environmental information,and through in-depth analysis of the basic theory of fuzzy algorithm,this study uses fuzzy logic algorithm,the information collected by the sensor is used as input,the safe angles and velocities are obtained without collision,it can ensure the safety of users,and then the path planning is derived based on the equation of motion.Simulation results show the effectiveness of the proposed algorithm.