Design A Path To Avoid Obstacles For Robots That Traverse Multiple Targets

In recent years,mobile robots have been widely used in the fields of daily life,agriculture,industry,national defense,scientific research and so on.It has become one of the most potential research directions in the development of science and technology.The purpose of robot path planning is to plan a safe and non-collision walking path that from the starting point to the target point for the robot,and the better the planned path is,the less damage the robot takes during walking.There are two key points in planning the walking path of evading obstacles for a mobile robot that traverses multiple target points.One is to plan an optimal execution order of the targets for the robot,and the other is to plan walking path of evading obstacles between the target points for the robot.For the path planning of traversing multi-target mobile robots in simple and complex obstacle environments,the paper mainly completes the following tasks:(1)Aiming at the problem that the PSO-GA algorithm has more iterations and a longer time in the optimization process,a CPSO-GA algorithm is proposed.The CPSO-GA algorithm divides particle swarms into elite particles,superior particle swarms,medium particle swarms,and inferior particle swarms.In the iterative process,the elite particles are directly retained to the next generation.The superior particles take the cross-operation between the same population,the medium particles take the crossover and mutation operations,and the inferior particles take the elimination operation.Simulation experiments show that the CPSO-GA algorithm reduces about 8% in program time compared to the PSOGA algorithm,decreases about 12% in number of iterations,and has a certain improvement in the search capability,better planning the target point execution order for mobile robots.(2)For the problem that the length of the path planned by the A* algorithm becomes larger after optimized by the B-spline curve,a B-spline curve based on type point drift(TPDB spline)is proposed to optimize the A* algorithm,and the new algorithm is called the A*TPD-B algorithm.The A*TPD-B algorithm can automatically filter out the type points at the turning point and take corresponding translation operations.Simulation experiments show that the path planned by the A*TPD-B algorithm is smoother than the A* algorithm path optimized by the B-spline curve.Compared to the A* algorithm path optimized by the B-spline curve,the path length is reduced by about 4%,and is about 1.8% lower than the A* algorithm path without optimization.(3)The CPSO-GA&A*TPD-B combination algorithm is proposed to plan obstacle avoidance walking path for traversing multi-objective mobile robots.The algorithm combines the CPSO-GA and A*TPD-B algorithms.In the path planning,firstly,the “CPSOGA algorithm” is used to plan the optimal target point execution sequence,and then “A*TPD-B algorithm” is used to plan the obstacle avoidance walking path between two adjacent target points in the execution sequence.In addition,a “priority execution target point” execution level setting module has been added to the CPSO-GA&A*TPD-B algorithm.When a “priority execution target point” exists in the target point,the target point can be set to execute grade through this module.Simulation results show that,in simple and complex obstacles environment map,whether it is the existence of " priority execution target point ",or there is no " priority execution target point ",the CPSO-GA&A*TPD-B combination algorithm can plan a good obstacle avoidance walking path for traversing multi-target mobile robots.