Research On Path Planning Of Mobile Robot In Indoor Environment

With the rapid development of the artificial intelligence and computer technology,the robot technology has been improved accordingly,in which the research of mobile robot is more in-depth.Path planning is an important research area in the field of mobile robot.In this paper,the path planning problems of mobile robot are analyzed and studied,including the global static path planning,local static path planning and dynamic path planning.The simulation experiments are carried out on the MATLAB simulation platform.Finally,the Pioneer3-AT robot is used as the experimental platform to verify the global static path planning algorithm.The research content of this paper is divided into the following parts:(1)An improved BUG algorithm is proposed.With using the classical BUG algorithm for path planning,when the shape of the obstacles in the environment are irregular,the path generated by it can be redundant.In view of this shortcoming,the improved BUG algorithm re-plans the path of the mobile robot as the new starting point when the mobile robot crosses the boundary of the obstacle.This method effectively reduces the unnecessary walking path of mobile robots and improves the efficiency of path planning.(2)An improved artificial potential field method based on local minimum points is proposed.Due to the traditional artificial potential field method for path planning,it is prone to local minimum situation.In this paper,based on the improved repulsive field function,the method of sector division is added to the virtual obstacles.When the target point is close to the obstacle or the concave obstacle exists in the environment,the improved artificial potential field method can make the mobile robot successfully escape from the local minimum point,so as to achieve the target point.(3)An improved dynamic artificial potential field method is proposed.Because the work environment of the mobile robot can't remain change,according to several existing dynamic obstacles or targets in the environment,the relative speed of mobile robot and the target point is considered in the attractive potential field function,the relative speed of the mobile robot and the obstacle is considered in the repulsive potential function.The improved dynamic artificial potential field method makes the mobile robot avoid the dynamic and static obstacles in the environment and successfully track the target point.(4)Experiment of Pioneer3-AT robot Physical Platform.Three simulation scenarios are drawn on the Mapper3 software.The physical experiment of the improved BUG algorithm on the Pioneer3-AT robot platform is carried out to verify the feasibility of the algorithm in the physical platform.