Research And Realization Of Robot Path Planning And Tracking Reasoning Method

The solid foundation for independent research and development of intelligent robots is due to the rapidly developing modern industrial level and increasingly mature intelligent technology.More and more robots of operations nature appear in various fields,which has been assisting humans in various tasks,improving work efficiency,shortening working hours,and reducing work costs.Especially,they can reach many dangerous and inaccessible areas for work.Not only have them greatly Not only have the robots greatly reduced the death rate of dangerous workers,but they are also of great significance to social development and progress.Wheeled robots have simple structure,they are easy to control and have low motion noise,which stand out among all kinds of robots and are widely used.Autonomous navigation is a prerequisite for wheeled robots to engage in various tasks,and a safe and collision-free driving path is also needed.Usually,the algorithm performance is evaluated by the path length planned by the robot.At a certain robot speed,not only driving time but also energy will be affected by the path length.Path planning is a key indicator for robots to successfully complete tasks.Traditional ant colony algorithm can be improved and researched from two aspects,one is time intensive on computation,the other is easily into the local optimal solution.The paper make an important improvement to parameters,which have a powerful influence on the nature of algorithm.And the thesis proposes grids method to the working conditions to the robot.The algorithm is improved in four aspects,the first one is consider the instructive of searching the best path between many lattice cells synthetically,and the heuristic function consists of the distance between mutiple nodes,the Euclidean distance between the current position and the transferable position,and the Euclidean distance between the transferable position to the target position.The global search ability can be enormously increased by an appropriate evaporating coefficients of pheromones.The third is retaining the history optimization to provide improvement project for the last one,which is the update strategies of information track.It means contrasting the optimal value in history and path distance planned by every ant that can reach to the finish line.It really can reduce the probability of suboptimal solution being selected.The improved ant colony algorithm has good search capabilities in the three kinds of grid maps given in this thesis with diverse complexities and different scales,It can acclerate the convergence speed,and enhances the optimization ability of the algorithm.It can be used in a relatively short period of time while planning out the optimal path.After planning the path,the robot needs to track the path.Designing a controller that can accurately track is another key indicator for the wheeled robot to complete the task.In this paper,a wheeled mobile robot positioning collection device is built in the actual environment,equipped with a vehicle-mounted co-location terminal to collect data on the desired path.By establishing the kinematics model of the wheeled robot,two wheeled robot path tracking algorithms are designed.Based on the PID control algorithm and the sliding mode control algorithm,the optimal preview distance strategy is integrated to improve the accuracy of path tracking.Comparing the errors of the two algorithms on the actual path tracking,a more suitable control algorithm for the path tracking of the cleaning robot in this paper is obtainedthe sliding mode control algorithm fused with the optimal preview distance strategy.In this paper,experiments are carried out with a simulation environment to verify the feasibility of the path tracking control algorithm in this paper.