Research On Path Planning Of False Wheeled Robot Based On Improved A* Algorithm And Artificial Potential Field

Wheeled robot is widely used in all aspects of production and life.In order to successfully complete a given task,wheeled robot must be able to reach the designated location autonomically.Therefore,the research on the path planning technology of wheeled robot has important value.However,most of the path planning research only stays in the theoretical research stage of the algorithm,and these algorithms have some limitations and shortcomings to some extent.For example,the path planned by A* algorithm is long,the turning Angle is too large,and it is not smooth enough.The artificial potential field method has the defect of unreachable target and local minimum value.Aiming at this problem,this paper improves and optimizes the shortcomings of A* algorithm and artificial potential field method respectively,and designs A comprehensive path planning algorithm by combining the two improvements.Finally,the actual application of path planning on the hardware platform of RIKIROBOT wheel robot is better.The main research work and achievements of this paper include: 1)Aiming at the shortcomings of the traditional A* algorithm in global path planning,such as long path,zigzag path and not smooth path,the ant colony algorithm is proposed to improve the path in A* algorithm iteratively.Through the comparison and verification of simulation experiments,it can be seen that the improved A* algorithm has shorter path planning,smaller total turning Angle and smoother path planning when carrying out path planning.2)Aiming at the shortcomings of unreachable target and local minimum value in local path planning of artificial potential field method,correction potential field method and adding escape force are adopted to improve it.Simulation results show that the improved artificial potential field method overcomes the problems of local minimum value and unreachable target.3)Combining the improved A* algorithm with the artificial potential field method,A comprehensive path planning algorithm is designed by taking advantage of the A*algorithm's fast searching path and simple algorithm in global path planning,as well as the artificial potential field method's superior real-time performance and good local obstacle avoidance effect in local path planning.Simulation experiments are carried out.Compared with the performance data of A* algorithm and the improved A* algorithm,the performance of the integrated path planning algorithm is better.4)The proposed integrated path planning algorithm is applied in the real environment.Firstly,the hardware and software operation platform of the wheeled robot was built and the parameters were configured.Then,the robot planned an optimal path according to the comprehensive path planning algorithm to avoid temporary obstacles and successfully reached the target point.Experimental results show that the integrated path planning algorithm is not only effective in theory,but also feasible in practice.