Research On Path Planning Of Mobile Robot Bsaed On Obstacle Stl Model

With the application of mobile robot in various fields in recent years,its importance is more and more prominent.Path planning is one of the important contents in mobile robot technology,and also an important indicator of the intelligence level of mobile robot.How to quickly plan the optimal path in the operating environment has been a hot topic in this field.This paper mainly studies the path planning problem of mobile robot with known obstacle information in the environment.Considering the diversity of obstacle characteristics in the robot operating environment,two different methods of environment modeling are studied,and the shortest path calculation and optimization are completed based on the intelligent algorithm.Finally,the simulation results show the feasibility and effectiveness of the method based on the obstacle STL model.First,the 3D model in STL format is used to simplify the description of the obstacles in the operating environment.With the advantage of easy processing of STL files,the obstacle model is projected onto the working plane of the mobile robot to obtain the projected contour.Considering the finite height of the robot,the STL model of the obstacle is layered and sliced,so as to obtain the information of the obstacle in any height interval,and then the maximum projected contour boundary within the interval is projected,which lays a foundation for the modeling of the operating environment and path planning.Secondly,before the environmental modeling,considering the safety of the robot,the safe distance and the plane size of the envelop body of the robot are equally biased onto the projected contour of the obstacle.Then,the viewable method is used to model the robot environment based on the biased contour.The improved A*algorithm was used to calculate the shortest path,and the genetic algorithm was used to smooth the shortest path.The simulation experiment of robot path planning is carried out in Matlab.Thirdly,this paper also studies the environment modeling method based on the pixel method.The projected contour area of the obstacle model is transformed into a pixel matrix,and the environment modeling is realized by binary gray processing.Considering the plane size of the robot envelope,the improved A*algorithm was used for path planning.The path planning experiment of mobile robot was completed in the GUI interface.Finally,with the help of the VREP simulation system platform,the simulation experiment of path planning of mobile robot was carried out in the three-dimensional environment.The obstacle models of different shapes were set up,the boundary information of the obstacles in the working plane was obtained through the above layered and projection ideas,and the simulation experiment of path planning was carried out at different starting and ending points,which verified the feasibility of the proposed method in this paper.