Research And Application Of Mobile Robot Behavior Planning Technology For Building Environment

Mobile robot technology is an integrated multi-discipline new technology,it has broad prospects for development in industrial production,service industry as well as military industry and so on.Now the study of mobile robot technology is in full swing by domestic and abroad researchers.Mobile robot technology in the building environment can be widely used in indoor reconnaissance,rescue and other tasks,so the relevant research of its behavior planning in this paper is carried out by three key parts:Simultaneous localization and mapping(SLAM),path planning and path smoothing.The main works and creations are as the following:1?A complete architecture and system framework are designed for the platform of mobile robot behavior planning,which provides the hardware and platform support for the main research work of this paper.Then the kinematics model of the mobile robot is established,and the relationship between the turning angle and the turning radius of the mobile robot is obtained by a large number of experiments,which provides the data support for the following research work.2?Utilizing the SLAM method that based on 2D LIDAR data,an Extended Kalman Filter algorithm is adopted to correct the measurement error,thus a more accurate environment map is constructed to provide accurate environment information for the path planning of mobile robot.3?The path planning algorithm of mobile robot is the main research content of this paper.Firstly,a feature map of the mobile robot based on the Grid-based map which was preprocessed is built,and the environment information is carried.Then the superiority and inferiority of the traditional planning algorithm in practical application are analyzed and a new fusion algorithm is proposed by combining the advantages of D*algorithm and the artificial potential field method.Finally,this paper studies the effect of mobile robot size and different turning angles on its motion.For these two aspects,the optimizing method is carried out and remarkable effect is acquired.4?In order to solve the problem that the path given by the planning algorithm based on the Grid-based map is not suitable for path tracking of mobile robots in practical applications.this paper studies the path smoothing method based on B Spline curve and Bezier curve respectively,and corresponding experiments are done for the different control points of Bezier curves.By comparing the results of experiments,the influence of different smoothing methods on path length and turning curvature is analyzed.Thus a new path is given which is much smoother and easy to track for robot.