Research On Dynamic Multi-objective Path Planning Algorithm For Indoor Mobile Robot

With the progress of society and the development of industrial automation and intelligence,indoor mobile robots have been used more and more widely in daily production and life.As a core content of mobile robot,path planning has important research significance.This paper mainly studies the path planning problem of robot in complex dynamic environment.The purpose is to propose a dynamic multi-objective path planning algorithm.Firstly,the characteristics of several common path planning algorithms are analyzed,and A* algorithm is selected as the basic path planning algorithm studied in this paper.In order to solve the problem that the traditional A* algorithm ignores the possibility that the grid will be occupied again when the state changes in the dynamic environment,an improved A*algorithm considering the probability of grid occupation is proposed,which reduces the probability of path occupation and the number of suspicious grid passes.Aiming at the problem that the path planned by the traditional A*algorithm is too close to the obstacle,an improved A* algorithm considering the grid risk is proposed,which reduces the path risk and the contact number of obstacles.Aiming at the necessity of dynamic multi-objective path planning for mobile robots,a multi-objective programming model was constructed which considered path length,grid occupancy probability and grid risk comprehensively.The combined weights of judgment matrix method and standard deviation method are combined to obtain the comprehensive weights.Finally,the search steps of A* algorithm are improved,the program is written on Lab VIEW,the simulation experiment and analysis are carried out,and the robot is used for the test.The results show that the improved algorithm improves the security at the cost of increasing the path length and search time,and obtains A better path than the traditional A* algorithm.