Path Planning Method Simulating Human Memory And Reasoning Mode

With the upgrading and adjustment of China's intelligent industry,the aging of population and the promotion of human cost,the "intelligent manufacturing 2025" has gone from the concept to the reality,and the mobile robot technology has become an indispensable force in the future development.Among them,path planning technology is one of the hot topics in the field of mobile robot technology.It is the premise and foundation for mobile robot to finish work successfully.Therefore,the research of path planning has important practical value and practical significance.In this paper,the intelligent wheelchair mobile robot is used as the experimental platform.From its application environment and the service crowd angle,in view of the characteristics of both known and unknown information in the indoor environment or the family environment,because of the uncertainty of the environmental information,it is necessary to make the path rules for the two kinds of intelligent wheelchair mobile robots.Study the problem.From the angle of human problem solving,human memory and reasoning decision are given to the path planning of mobile robot to make it have a higher level of intelligence,more in line with the user's thinking mode,and to ensure its comfort and security.The main contents are as follows:The motion control part of the intelligent wheelchair mobile robot experimental platform is briefly introduced.The transformation equation of the global coordinate system is described,and the kinematics equation of the mobile robot is established.At the same time,a strategy analysis is made for the path planning problem in this paper.Secondly,the memory mechanism of human memory is introduced and its memory mechanism is analyzed.On this basis,a cognitive model of mobile robot based on memory principle is established.The mathematical model of updating and forgetting the short-term memory element and long time memory element is established respectively.As time goes on,the memory depth of the obstacles gradually attenuates,and the model is verified on the simulation platform to meet the human memory mode.Combining memory model with A* algorithm,we construct a two tier avoidance algorithm.In view of the uncertainty of indoor environment information,based on partial prior information,the local target points of each iteration are drawn,and memory model is added tothe local path planning to simulate the human perception to decision making.Then the simulation experiment is carried out.The simulation results show the feasibility of the algorithm.Finally,in view of the environment with dynamic obstacles,from the perspective of human reasoning decision,this paper uses the fuzzy logic algorithm to make the sensor acquisition information as input,the moving speed and angle as output,ensuring the security,and the simulation results show the real-time and effectiveness of the algorithm.