Study On Receding Horizon Control And Its Application In Path Planning Of Mobile Robots

With the development of science and technology,the technology of mobile robots is increasingly perfect.At the same time,mobile robots are being applied in more and more fields.Among them,the application of unknown wireless sensor networks has also been applied.That is,by using a mobile robot to locate the location of sensor nodes in the wireless sensor network.When performing this task,it is necessary to ensure that the mobile robot does not collide with obstacles in the search environment.Therefore,the path planning of mobile robots is a very important part.This paper studies the of receding horizon control and its application in the path planning of mobile robot.The main work is as follows:(1)The distribution of the received signal strength of the directional antenna is analyzed and the corresponding mathematical model is established.Then based on the characteristics of directional antenna's received signal strength,a wireless sensor networks localization algorithm based on particle filter is established.Finally,the effectiveness of the proposed localization algorithm is verified by simulation experiments.(2)The kinematics model of the differential wheeled mobile robot is established by analyzing its motion state.Then,based on the understanding and research of the receding horizon control,the control algorithm of the mobile robot based on the receding horizon principle is established.The particle swarm optimization algorithm is used to solve the optimal solution,and the improved to obtain the improved PSO algorithm.Then,the control algorithm and the localization algorithm are combined to obtain a receding horizon control algorithm for a mobile robot for locating an unknown wireless sensor networks.Through simulation experiments,it is verified that the proposed control algorithm can effectively control the mobile robots to locating unknown sensor nodes.(3)The task of locating an unknown wireless sensor network is described by using sequential logic to establish a corresponding temporal logic formula.Then,establish temporal logic constraints to make the path of the mobile robot conform to the temporal logic formula.Finally,by combining the temporal logic constraints with the control algorithm in(2),a receding horizon control of mobile robot based on temporal logic is obtained.Through simulation and practical experiments,it is verified that the proposed control algorithm can effectively control the mobile robot to locating unknown wireless sensor network in the search space.