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Research on Global Path Planning Algorithm of Mobile Robot in Complex and Dynamic Environment

Author: XuPeiPei
Tutor: FanLiMin
School: Beijing University of Posts and Telecommunications
Course: Mechanical and Electronic Engineering
Keywords: Global path planning algorithm Evaluation function Passage of three-dimensional Local obstacle avoidance algorithm Lunar rover path planning Path evaluation
CLC: TP242
Type: Master's thesis
Year: 2009
Downloads: 281
Quote: 6
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Path planning is the process of moving lunar rover in motion control based patrol unit is one of the core research and development. Lunar rover on the moon's surface is a complex dynamic work environment, a special robot, therefore, study the complex dynamic environment path planning for mobile robot path planning Patroller study has important significance. In this paper, National Defense ongoing exploration of the moon two, three engineering feasibility studies as background, the tradition of the mobile robot global path planning algorithm, complex dynamic environment global path planning algorithm, simulated lunar rover path planning process, the path cost assessment conducted research The main contents include: First, the analysis of the achievement of the two traditional mobile robot global path planning algorithm A ~ * and D ~ * Lite. For engineering constraints, the number of steering angle and turning into the evaluation function algorithm is proposed based on A ~ * algorithm for global path planning algorithm A ~ * angle, so plan out the path smoother, more energy savings in the building of the MATLAB simulation platform for the algorithm for the simulation verification. Secondly, the traditional algorithm is applied to three-dimensional complex dynamic environment when some of the problems, we propose a new method for three-dimensional modeling, we propose a new direction-based three-dimensional pass judgment methods, and studied industrial forecast principles and scroll principle, the traditional global path planning algorithm D ~ * Lite has been modified so that it can be used is unknown three-dimensional complex dynamic environment, and finally on the algorithm for the simulation verification. Once again, our lunar rover for \to simulate a lunar rover path planning process. Finally, modify the above evaluation function based on the view of the current global path planning algorithm is basically based on the optimal path is the shortest path as the standard, proposes a comprehensive evaluation on the path method, considering the mobile robot to walk straight consideration, steering adjustment costs and institutional costs. These costs will be consolidated for the power and time-consuming, so as to evaluate the overall performance of the path provides a reference standard.

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
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