The Study On Obstacle Avoidance And Path Planning Of Indoor Mobile Robot

With the rapid development of robot technology,mobile robots are widely used in the field of science,technology and the every aspect of daily life.The ability of obstacle avoidance and path planning of mobile robots determines the degree of its intelligence,which is also one of the hot fields studied by scholars at home and abroad in recent years.According to the awareness of the environment,the path planning algorithm can be divided into global path planning and local path planning.The former applies path planning to situations where environmental information is completely known,and the latter uses the obstacles information obtained by sensors to avoid obstacles and complete path planning.At present,only the single path planning algorithm can't simultaneously solve the optimal path involved in path planning and obstacle avoidance of dynamic obstacles.In this paper,a hybrid path planning method based on improved A* algorithm and fuzzy logic adaptive obstacle avoidance is proposed.The basic idea of this method includes: 1)using the improved A * algorithm for global path planning,which can obtain a feasible path with better performance;2)using the adaptive fuzzy logic obstacle avoidance algorithm to avoid the dynamic obstacle during runtime.Finally,during the mobile robot navigation,obstacle avoidance capability and path planning capability of the mobile robot are achieved through the cooperation of 1)and 2).Finally,an experiment based on the hybrid algorithm is carried out in HBE-SmartCAR mobile robot,the experimental results show the effectiveness and feasibility of the method.The contributions of this article are as follows:1)In this paper,an adaptive obstacle avoidance algorithm based on fuzzy logic is proposed in view of the obstacle avoidance of mobile robots.The algorithm consists of fuzzy logic and random forest algorithm,which can update fuzzy rule base dynamically.The mobile robot can update the fuzzy rule base to adapt to the changes of the environment by this method during runtime,which make up for the shortcomings that the traditional fuzzy logic can't adjust the fuzzy rule online.2)In this paper,we improve the evaluation function and path planning search strategy of A* algorithm,so that the final path planning results have better obstacle avoidance performance and security.3)A hybrid path planning method based on the improved A * algorithm and fuzzy logic adaptive obstacle avoidance algorithm is adopted to solve obstacle avoidance and path planning in indoor environment of mobile robot.Experiments based on HBE-SmartCAR mobile robots are carried out to verify the effectiveness and feasibility of the proposed method.