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Research on Path Planning of Mobile Robot Based on Environmental Map Information

Author: XuSongQing
Tutor: WuHaiBin
School: Fuzhou University
Course: Mechanical and Electronic Engineering
Keywords: Mobile robot Path planning Voronoi diagram Dijkstra's algorithm Digital signal processor (DSP)
CLC: TP242
Type: Master's thesis
Year: 2006
Downloads: 234
Quote: 0
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Abstract


With the continuous progress of science and technology , robot technology is more and more widely in all aspects of social life, such as industrial and agricultural applications . The mobile robot path planning is an important part of robotics research . This paper proposed a novel global path planning method for mobile robot path planning problem . Firstly, the robotics research profile at home and abroad , the current research progress of mobile robot path planning , and research methods were necessary overview and describes the research background of the paper , to study the content and meaning . Second, independent research and development of rear-wheel drive mobile robot Pioneer - II , \model . Third, the operating environment of the robot modeling, in accordance with the the simplified rules established electronic map data of the operating environment of the mobile robot experiment . Fourth, to the electronic map -based mobile robot path planning method based on Voronoi graph theory . Focuses on the application Voronoi diagram algorithm generates robot collision-free path network , as well as using of Dijkstra the optimal search algorithm to find an optimal path for the robot path planning process , and VC programming environment simulation obtained simulation results. Fifth, a brief description of the overall composition of the semi-autonomous mobile robot remote control system . A detailed description of the mobile robot body based on the the DSP microcontroller peripheral expansion circuit , the establishment of the mobile robot positioning algorithm. On this basis , the Chapter path planning algorithms to DSP microcontroller , the actual operating results of the algorithm on the robot . Finally, some conclusions drawn in the course of the study , pointed out some shortcomings of this study , the proposed research need to be strengthened in the future direction .

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