Research On Path Planning Algorithm Based On ROS Mobile Robot

With the development of robotics and driverless technology,the path planning problem of one of the hot topics in this research field has attracted more and more scholars' attention.The problem of path planning can be abstracted as an optimization problem from the starting point to the target point.The constraint is to consider the time,distance,algorithm complexity and other issues in the case of avoiding collision with obstacles.At present,there are numerous algorithms for path planning research.Among them,A~* algorithm and artificial potential field algorithm are widely used in path planning problems.They are stable and easy to implement,but they also have certain limitations.The shortcomings of the two algorithms and the characteristics of the improved methods of scholars at home and abroad,the PRM algorithm is selected as the research object,and the PRM algorithm is improved.By constructing the simulation environment and the mobile robot platform,the A~* algorithm and the artificial potential field can be better compensated.The shortcomings of the algorithm,and in the fixed indoor environment,the improved PRM algorithm has achieved satisfactory experimental results.The specific research contents are as follows:1)The traditional A~* algorithm and artificial potential field algorithm are analyzed,and the basic principles,advantages and limitations of these two algorithms are introduced.For each A~* algorithm,the generation value of all passing nodes must be calculated repeatedly,and the artificial potential field algorithm generates local optimal solutions and unreachable limitations.The feasibility of using PRM algorithm is elaborated.2)The basic principle of PRM algorithm is introduced and its advantages and limitations are analyzed.Aiming at the limitations of the random selection of sampling point and search path algorithm and the unsmooth path of PRM algorithm,a sampling strategy based on artificial potential field is proposed,and the bidirectional A~* search algorithm is used to improve the search efficiency of the path and improve the utilization.The third-order parametric spline interpolation algorithm solves the path smoothing solution.3)Build simulation model and mobile robot platform,analyze the experimental result to check the reliability of modified algorithm.The innovations in this paper can be summarized as follows: In a fixed indoor environment,in the construction path diagram stage of the PRM algorithm,the sampling points are constructed by introducing an artificial potential field around the obstacle,and uniform sampling is used in the blank area;In the search phase of the algorithm,the two-threaded two-way A~* search method is used to improve the search efficiency of the algorithm.The improved PRM algorithm compensates for the A~* algorithm and the artificial potential field.Finally,the path smoothing is performed by the third-order parametric spline method.