Research On Path Planning Method Considering Distance And Energy Consumption For Mobile Robot

Mobile robots have been widely used in all walks of life in recent years,and their application scenarios are also changing.From being used only in factories to being widely used in cities and villages,the working environment of mobile robots is no longer just a flat road but also a pothole path in the countryside.With the increasing use of mobile robots,their endurance has become a problem affecting their application prospects.Traditional path planning focuses on considering the optimal distance and ignores the requirements of optimal energy consumption.How to consider both distance and energy consumption in an unstable environment is an urgent problem to be solved in path planning.This paper takes the fourwheel mobile robot as the primary research object,analyzes its motion state in the pothole environment,and establishes an evaluation function that simultaneously considers distance and energy consumption to minimize distance based on optimal energy consumption.The main work completed includes:The relationship between speed and output torque of the mobile robot is analyzed based on the motion environment of a mobile robot.The robot dynamic model is established according to the relationship between speed,acceleration,and torque.The energy consumption model of the robot is established based on the relevant parameters of the motor,considering the energy consumption in the motion process of the robot.The relationship between the angular velocity and energy consumption of the robot is also obtained.The Informed RRTstar algorithm is applied to path planning to analyze the mobile robot’s distance optimal path planning problem.The Informed RRTstar algorithm reduces the search scope and reduces the search cost,which solves the problems of high cost and long search time of the traditional RRT algorithm path planning algorithm.MATLAB simulation analysis verified that the Informed RRTstar algorithm proposed in this paper could effectively optimize the path and reduce the distance cost.This thesis studies the turning movement process of a mobile robot under a pothole environment.The energy consumption of a mobile robot in the movement process is analyzed,and the evaluation functions of a mobile robot are built.An Improved A* and DWA fusion algorithm is proposed to generate the path considering distance and energy consumption.The Improved A* and DWA fusion algorithm and the Improved A* algorithm are used to verify that the algorithm proposed in this paper can achieve high efficiency and energy saving.Aiming at the problem that distance and energy consumption are not considered simultaneously in mobile robot path planning,considering the limitations of the Informed RRTstar algorithm when considering energy consumption,the Improved A* and DWA fusion algorithm is applied to path planning.