Researsch On Path Planning And Trajectory Control Of Mobile Robot In Indoor Environment

Mobile robot path planning and path tracking control is a very important part of the robot field,and is the basis for mobile robot to complete more complex tasks.How to make a mobile robot move an optimal and collision-free path in a known or unknown environment and track it accurately is a challenging research topic,with the further development of mobile robot technology,it's importance will become more and more prominent.This paper focuses on the algorithm of path planning,path smoothing,and path tracking control for mobile robot in known structured environments,an improved A star algorithm for path planning is proposed,and a trajectory tracking algorithm for mobile robot based on backstepping is designed.First,the working environment of mobile robot is modeled by grid method,on this basis,the Dijkstra algorithm and A star algorithm is used to simulate the mobile robot path planning,the two algorithms are compared according to the simulation results.In view of the shortcomings of the A star algorithm,an improved A star algorithm is proposed in this paper.The improved A star algorithm is simulated by mobile robot path planning,and the effectiveness of the improved A star algorithm is verified.Sceond,about mobile robot path smoothing,the polynomial curve algorithm and the nonuniform B spline algorithm are simulated.According to the simulation results,the advantages and disadvantages of the two algorithm are compared.Finally,nonuniform B-spline algorithm is chosen for path smoothing.Third,the kinematic model of the mobile robot is established,according to the idea of backstepping,the trajectory tracking control algorithm of mobile robot is designed,and the control algorithm is simulated for different trajectories,the experiments results show that the designed control algorithm is stable and effective,and has good anti-interference ability.After completing the design of the algorithm of the mobile robot,this paper also has the hardware design of the mobile robot embedded control system.Finally,the mobile robot system is established,and the mobile robot path planning and path tracking control experiment are carried out in the indoor environment.The proposed improved A star algorithm and mobile robot path tracking control algorithm are validated.The experiment results can achieve the optimal collision-free path from the start point to the end point,and the tracking effect is good,which proves the validity of the designed algorithm.