Research On Indoor Mobile Robot Path Planning

The appearance of robots,driving the rapid development of technology in the field of human intelligence,a large number of semi intelligent robots have been widely used in many fields,such as industry and agriculture,marine exploration,family service,aerospace,military industry.And they have also made great contribution to improve the standard of living of people.The robot is a complex of multiple disciplines,and it refers to new materials technology,sensor technology,information communication technology,manufacturing technology and biological technology so on,which indicates robot,is the crystallization of human wisdom.The rapid development of robot technology has a profound impact on the lives of everyone today.All countries have never stopped on the research and development of the robot.The robot industry represents the ability of industrial automation and the hard power of a country.Along with the progress of science and technology,the prospects of the robot industry will be further and limitless.This thesis focuses on the home service robot.The technical points of the path optimization,autonomous obstacle avoidance and path algorithm in the indoor environment have been analyzed particularly.In this thesis,the ant colony algorithm is used to update the pheromone concentration,and then the RFID technology is applied to the path planning.Firstly,this thesis introduces the biological description of the ant colony algorithm,then the traveling salesman problem and ant colony algorithm are introduced,followed by the introduction of three algorithm system of improved ant colony algorithm,then a new pheromone is raised and the experiment indicates this method is feasible,which improves the efficiency of the algorithm and overcomes the disadvantage of the algorithm easily into the local minimum point.In the treatment of a large map,the map segmentation can be divided into many parts,and each small map using the new ant colony algorithm to plan path,which maximizes the efficiency of the algorithm and let the algorithm be applied in other fields.The RFID technology is used in path planning.This thesis uses the delivery method between news of RFID technology,by processing information and the feedback information of computer to solve the optimal path problem of infinite subdivision grid method.The communication function between RFID technical information also solves the problem of robot searching.According to the grid map information received on the electronic label,using ant colony algorithm to plan optimal path,by the way of feedback into the local map to achieve the cycle and final completion of the path planning.