Research On Path Planning For Robot Under Dynamic Environment

The path planning problem is the most basic and the most important aspect of the robot research field.It can make the robot avoid the obstacle and reach the target,which shows the intellectuality of robot.The current mobile robots have been widely used in complex and volatile dynamic environments.However,due to the uncertainty in the moving speed and direction of dynamic obstacles in dynamic environments,the difficulty of dynamic path planning for mobile robots has increased,which is a difficult problem to solve in the dynamic path planning of robots.In this paper,a global and local path approach is used to implement the path planning of mobile robots in a dynamic environment.The main work is as follows:1)The static path planning is performed before the robot moves according to the obstacle information in the known environment.Aiming at the traditional ant colony algorithm in the calculation of the heuristic function is not comprehensive and lead to low search efficiency,this paper proposes an improved ant colony algorithm,using the evaluation function f*(n)in A* algorithm to update the ant colony algorithm Inspire information to plan a global path for the robot.Simulation experiments show that the improved ant colony algorithm has shorter path length,faster convergence,and smoother path than traditional ant colony algorithm.2)Aiming at the problem that traditional AG algorithm can not solve robot path planning in dynamic environment,it has been improved.By adding the relative velocity component of the robot and the dynamic obstacle as the power to avoid dynamic obstacles,it can fully exert its superiority and is more suitable for real-time dynamic navigation.The simulation results show that the improved AG algorithm can not only solve the problem of the robot avoiding dynamic obstacles and reaching the target point in dynamic environment,but also has shorter path length,less time and smoother path compared with other dynamic path planning algorithms.3)Aiming at the path planning problem of robots in dynamic environment,this paper proposes a general idea to solve the problem: Firstly,an improved ant colony algorithm is used to plan a static global path for the robot.The robot continuously senses the surrounding environment information and performs collision avoidance while the robot advances along this global path.If the dynamic obstacle does not collide with it,it continues to follow the previous global path.If a collision occurs,an improved AG algorithm is used to plan a local path for the robot to avoid dynamic obstacles.The simulation experiment shows the feasibility of the idea,that is,the optimal path of the robot can be planned from the starting point to the end point and can avoid all static and dynamic obstacles.