Research On Path Planning Based On Omnidirectional Mobile Robot

With the advancement of Industry 4.0,robot technology has developed rapidly to expand from the initial industrial robot to military,service,medical and other fields.Mobile robots have highlighted the broad application prospects in many types of robots,and their intelligent navigation Technology is the basic guarantee for mobile robots to complete their tasks.In this paper,the active decoupling omnidirectional mobile robot is taken as the research object,and the intelligent navigation of the mobile robot is studied by means of theoretical analysis and experimental verification.The research content includes global path planning and local path planning for mobile robots,and environment map models for path planning.The details are as follows:This article first introduces the current research status and development trends of mobile robots,and introduces the current mainstream global path planning algorithm and local path planning algorithm,and understands the development direction and technical barriers of current path planning technology.Second,environment map modeling is the basis for mobile robots to complete path planning.According to the actual environment and the difficulty of constructing the environment map,the grid map,the geometric feature map and the topological map are analyzed and compared,and the grid map with a more detailed description of the environmental information is selected as the map model for global path planning.However,in order to better adapt to omnidirectional mobile robots,diamond grid maps,triangular grid maps and honeycomb grid maps based on the traditional grid map model are proposed.The four maps are selected from three aspects:motion,proportion,and path ratio.Through analysis,the honeycomb grid map with the best effect is selected.Then,in order to solve the problem of long planning time of the honeycomb grid map in the path planning process,a two-way A*search algorithm based on the honeycomb grid map is proposed.After comparing with the traditional A*search algorithm,it reflects its path planning There are many advantages.Finally,a kinematics model is established for the active decoupling omnidirectional mobile robot,and the local path planning of the mobile robot is studied.In order to avoid obstacles in a narrow space,that is,a small obstacle avoidance area is required,an improved algorithm for adaptive omnidirectional mobile robots based on DWA is proposed.The algorithm will discard the joint angular velocity,reduce the number of planned speeds in DWA,and increase the speed matching time.Through experiments,the above scheme can not only complete straight line obstacle avoidance in front of obstacles,but also greatly reduce the planning time and improve Navigation efficiency.Through the above research,I have a deeper understanding of the development trend and technology core of path planning,and put forward the possibility of some algorithm improvements,which provide some reference for the in-depth study of path planning technology.