Research On Path Planning And Tracking Method Of Mobile Robot

The application of mobile robots is becoming more and more popular.Whether it is human exploration of space and ocean,such as lunar exploration vehicles and underwater vehicles,or human daily life,such as sweeping robots,mobile robots play a pivotal role.Therefore,research on mobile robots is of great significance.The path planning and tracking of mobile robots are the key content of mobile robot research.More and more scholars are investing in this field.In order to enable the robot to quickly reach the target point from the starting point,it is necessary to plan a global path that meets the specific requirements in advance.In addition,the environment in which the mobile robot operates is complicated and variable,so the mobile robot is also required to perform autonomous local path planning to achieve the goal of avoiding dynamic obstacles.Second,in order for the mobile robot to operate according to the planned reference path,it is also necessary to design a suitable path tracking controller.Based on this,this paper studies the path planning and path tracking methods of mobile robots.The main research contents of this paper are as follows:1.Create a grid map.In order to facilitate the processing of the computer and provide a simplified map for subsequent path planning,the operating environment of the mobile robot is rasterized,and a grid map with simplified environmental information is established.2.Global path planning.Firstly,the gravitational function and the repulsive force function of the artificial potential field method are improved to eliminate the problem of the target unreachable and the oscillation near the obstacle in the local path planning.Then,based on this,the potential field ant colony algorithm is proposed.The potential field ant colony algorithm uses the improved artificial potential field method to guide the path search direction of the ant colony algorithm,which reduces the blindness of search and improves the efficiency of global path planning.3.Speed adaptive design.In order to make the path tracking more accurate,the mobile robot can automatically adjust the longitudinal speed according to the road conditions.Firstly,the functional relationship between the reference velocity and the reference path curvature is designed,the curvature of the reference path is calculated,the reference path is divided into approximate straight line segments and curved arc segments,and then the appropriate longitudinal reference speed is set according to the curvature of the curved arc segments.4.Path tracking controller design based on model predictive control.Firstly,the dynamic model of the mobile robot is established,then the model is linearized,and the prediction model is provided for the subsequent path tracking controller design.Finally,according to the limitation of the mechanical structure of the mobile robot,the constraints and the objective function of the designed controller are proposed to complete the controller design.