Omnidirectional Mobile Robot Hybrid Path Planning Method And System Implementation

The sequence points or curves connecting the starting point and end point of the robot’s motion are called paths,and the robot’s strategy for generating motion paths is called path planning.Path planning is one of the main research contents of mobile robot motion planning.The research on path planning can be divided into two categories:global path planning based on global environment model and local path planning based on local environment perception.However,when the inability to obtain accurate environmental information results in the inability to establish a complete global environment model and the dynamic change of the environment,it is often difficult to obtain good results by using global path planning or local path planning alone.In response to the above problems,this paper combines a global path planning and a local path planning to develop a hybrid path planning method.This dissertation focuses on the following research:(1)A hybrid path planning method is proposed.This method is based on the environment topology map and grid map,introduces and improves the firework search algorithm to achieve global path planning,and uses fuzzy dynamic window method for local path planning,and through road condition feedback and path switching mechanism to achieve mixed path planning.Firstly,establish the corresponding environmental information model according to different situations,and then use the corresponding search algorithm according to the different models: for the situation where the exact environmental information is not completely known,establish the topology structure model,and combine the Petri network to plan the global path;for the known exact Environmental information,establish a grid model,combine the fireworks algorithm to search for the global optimal path while selecting alternative paths,and address the insufficient use of group information in the basic firework algorithm,unreasonable mapping rules,and the path length as a single.For evaluation indicators and other issues,the concept of pioneer spark is introduced and the three indicators of path smoothness,length and collision risk are considered in the path evaluation.Linear weighting is used to redefine the evaluation function and other methods to improve the basic firework algorithm to optimize global path.Then based on the dynamic window method for local path planning,in order to optimize the undesirable effect caused by environmental changes in the actual operation process,the target point distance is improved to improve the evaluation function and fuzzy reasoning mechanism is added to improve,according to the optimal trajectory and perception The environmental information obtained by the system,combined with the robot dynamics and kinematics model,moves autonomously to avoid obstacles to reach the end point.In the process of obstacle avoidance,it can switch the alternative path in time to avoid normal conditions to ensure its normal operation.(2)A four-wheel mobile robot with a diamond-shaped installation structure was adopted,and the dynamic model of the robot was established using the Lagrange equation of the second kind and the “class-equivalent” model of the DC motor double closed-loop speed regulation system respectively.The model analyzes the motion and dynamic characteristics of the robot;establishes a corresponding simulation platform;on the basis of the above,an omnidirectional mobile robot physical experiment system is designed and built;the proposed planning method is applied to the above simulation and experimental system platform to verify the effectiveness of the proposed method.