Path Planning And Smoothing Algorithm For Wheeled Robots In A Cluttered Environment

Path planning is the one of the hottest issues in the field of robotics technology research.Path planning is a difficult point in the field of robotics research,how to make the robot quickly and accurately in a known or unknown environment planning out a collision free path smooth and meet its movement constraint is a challenging research topic,Whether its in areas like national security,search and rescue in hazardous environments,or medical services,where robots are needed,the path planning and optimization has a huge potential application value.At present,the main problem is that in the complex environment,the path curvature planned by the traditional path planning algorithm is too large,and the non-smooth path will increase the complexity of the path tracking algorithm of the mobile robot subject to the non-holism constraint,which is difficult to be implemented by the robot stably.Aiming at the path planning problem of mobile robots in complex environments,the main contents of this paper are as follow.1.On the basis of investigating the current development status of robot navigation,the construction of robot object navigation platform was completed to lay a foundation for the follow-up work.2.The environment depth data was obtained by Kinect sensor,real-time information of the environment was captured,and the distance of obstacles was acquired.Navigation and obstacle avoidance functions were realized by using A*and DWA hybrid dynamic path planning algorithm.The reliability of the navigation algorithm was verified on the Turtle bot experimental platform.3.Based on the realization of autonomous navigation of robot,the causes of its motion instability are analyzed.For robot motion planning must solve the problem of path smooth,after the study of the commonly used robot path smoothing algorithm,closely connected with practice,to analyze its application limitations,this paper proposes a smooth gradient path optimization algorithm based on direction Angle,and puts forward the innovation of the smooth algorithm with path smoothing algorithm commonly used experimental comparison and analysis,solve the robot in the actual motion planning problems of inflection points and discrete curvature,parameter adjustment to the robot itself hardware power do.