| With the development of science and technology and the continuous improvement of people's living standards,the use of navigation robots in daily life is becoming more and more extensive,and research institutes are increasingly researching this.How to ensure that the guiding robot works according to the predetermined situation and how to ensure the safe and efficient work of the guiding robot is the research hotspot and difficulty of the guiding robot in the future.This paper mainly studies the path planning and path tracking of the navigation robot.In order to make the guiding robot work efficiently,the path planning algorithm of the guiding robot is studied,and the working environment and working nature of the guiding robot are analyzed.Firstly,the actual real map scene is abstracted into a grid map by the grid map method,and then improved.The ant colony algorithm performs path planning for the guiding robot.Compared with the unmodified,the algorithm greatly improves the search speed and can obtain a better shortest path in the search results.In order to ensure that the guiding robot works according to the predetermined conditions,the path tracking control problem of the guiding robot is analyzed.The path tracking is performed on the given reference path.The control rate based on MPC is designed.The MPC control based on the simulation is verified by Matlab simulation.The control rate can quickly and accurately track the upper reference path on a straight,circular,elliptical path,and stably track the reference path.In order to ensure the safe work of the guiding robot,and then the path tracking problem based on the dynamic obstacle environment is studied,the path tracking control added to the path re-planning layer is adopted,which enables the guiding robot to avoid the dynamic obstacles while working..Since there are dynamic obstacles,the reference path cannot be completely tracked according to the given reference path.Local path re-planning is needed to avoid dynamic obstacles.After re-planning,the local path is followed,and the obstacles are avoided and then tracked.The reference path has been experimentally proven to be able to avoid dynamic obstacles and track reference paths.Experiments on the path tracking control of the guided robot were carried out,and the Shandong Province robot and intelligent equipment public technology service platform was selected as the experimental site to carry out the real experiment.The experimental results show that according to the proposed path tracking control of the path planning layer,the reference path can be tracked quickly and effectively,and finally the reference path can be stably tracked. |
