Research On Path Planning Of Mobile Robot On Curved Surface

Mobile robots are intelligent robots,which are a comprehensive system that integrates multiple functions.With the increase in social demand and the development of artificial intelligence technology,mobile robots have gradually become intelligent and autonomous,and have been widely used in the service industry,manufacturing,military,interstellar exploration and other fields.Path planning technology is the primary condition for the robot to reach the task goal and complete the task content,and it is the decisive factor for the mobile robot to achieve autonomous motion.The mobile robot that realizes autonomous navigation through path planning is the highest goal of the future development of mobile robots.The comprehensive effect of multiple factors makes the intelligent walking of mobile robots on curved surfaces a key topic of in-depth research today.Because the achievements of the existing mobile robots mainly focus on the motion strategy of the plane,and the mobile robot walking on the curved surface becomes more and more necessary in practice,this paper proposes the research topic of the path planning of the mobile robot on the curved surface and the following aspects: Do research.1.Determine the research goal and overall idea of this paper: take the path planning of the mobile robot on the curved surface as the research object,design a path planning method and track it,so as to realize the autonomous driving of the mobile robot on the curved surface.For the path planning technology,one of the key technologies to realize the autonomous walking of mobile robots,an improved A* algorithm is proposed for the priority search of the starting and ending directions.According to the relationship between the starting point and the U-shaped obstacle to determine the starting direction of the starting point and the expansion of the U-shaped obstacle,the 4-neighborhood search of the A* algorithm is optimized to be less than or equal to 3neighborhoods,which reduces the search range and improves the search efficiency.2.By discretizing the points of the three-dimensional surface into the distance set of the point set on the two-dimensional plane and the three-dimensional space point,the discrete modeling of the three-dimensional surface is completed,and the starting and ending directions are preferentially searched and the B-spline smoothing A* global path planning The method is extended and applied to 3D surface path planning and model is established to verify the feasibility and superiority of the extended A* algorithm proposed in this paper.3.Based on the directional derivative of the surface,the overall linear velocity of the robot is derived,and the velocity is decomposed in the direction of the directional derivative and the two directions directly above,and the kinematic model and time discretization system of the surface motion of the mobile robot are established.The feasibility of the model is verified by Matlab,and the verification results verify the feasibility of the model,which provides the kinematics module support for the surface motion robot to follow the global path planned by the A* algorithm.4.Establish a mobile robot system framework and decompose the autonomous motion problem of the mobile robot surface into autonomous obstacle avoidance and path following problems.The autonomous obstacle avoidance adopts a fuzzy control method that reduces the input amount and simplifies the model,and combines autonomous obstacle avoidance with global path planning.Finally,the research goal of autonomous walking of mobile robots on curved surfaces is completed.