Research And Implementation Of Mobile Robot Path Planning Method

With the progress of society and the development of science and technology,the mobile robot with autonomous decision-making ability is a hotspot in robot research.The key issues of mobile robot research include: robot architecture,architecture,path planning and so on.This paper analyzes the global static path planning and the local dynamic path planning which avoids the obstacle,the artificial potential field method is improved to solve the corresponding path planning problem,and the corresponding method to avoid the six kinds of collision problems.And reduce the error of ranging in the real environment through probabilistic fuzzy system.The main work of this paper is as follows.(1)Aiming at the narrow path problem of traditional and improved artificial potential fields,this paper propose based on Morphin algorithm in the static environment path planning.When the robot encounters a narrow path problem,the Morphin algorithm is used to plan out n candidate paths and then through the evaluation function to determine the optimal path.The simulation results show that the proposed method can solve the narrow path problem well and get the best path.(2)In an environment where an unknown dynamic obstacle exists and the target point is also moving,due to the existence of the artificial potential field method,the radius of repulsion influence tends to be larger than the radius of the obstacle.When there is impact and non-head-on collision,use complete waiting and non-complete waiting.When there is head-on collision,use Morphin algorithm to avoid obstacles.The simulation results show that the improved strategy proposed in this paper is better in planning the number of steps.(3)In the complex environment where both static and unknown dynamic obstacles exist,the robot introduces the rolling window theory to predict whether the unknown dynamic obstacle will collide with the robot.In order to take the corresponding obstacle avoidance method for different collision,this paper concludes six typical collisions.The simulation results show that the method can improve the efficiency of obstacle avoidance.(4)Aiming at the ranging error produced in the real environment,a probabilistic fuzzy system is adopted,The actual value of the distance measurement(input value)is blurred.A mapping relationship is established between the estimated value of the input value and the actual distance and the expected value(output value).The output value is obtained by de-blurring.The simulation results show that the probability fuzzy system improves the accuracy of using artificial potential field method to avoid obstacle in real environment.