Low Energy Consumptiong Of Robots In Some Unknown Environments Research On Path Planning Methods

With the continuous improvement of autonomous capability of robots,they are bound to perform more tasks autonomously in the site of dangerous disasters such as fire,earthquake and nuclear power plant,which can be abstracted into semi-structured environment.Therefore,they need to have certain path planning ability.However,the amount of energy carried by the robot at a single time is limited by the battery capacity and weight,which even leads to the robot not having enough energy to deal with emergencies after completing the task.According to the above problem,this thesis through the establishment of the robot model,energy consumption and global path planning based on improved ARA* algorithm,the local path planning algorithm DWA algorithm evaluation function of relevant parameters optimization design,the ROS navigation system within the framework of a half structured environment of low energy consumption path planning method,realize the low energy consumption of the robot path planning.Firstly,according to the actual application scenarios of robots,the functional requirements of robots are analyzed,and the overall design scheme of robots is completed.The overall design scheme of robot includes the design scheme of robot mechanical structure and the design scheme of robot control system.In the mechanical structure design,the passive adaptive mechanism is mainly designed.During the control system design,the software design of robot control system is emphasized.Secondly,based on the robot control system,the low energy path planning algorithm in semi-structured environment is studied.In the part of global path planning algorithm,the robot energy consumption model is established based on the mechanical structure of the robot,ARA* algorithm is selected for the semi-structured environment,the energy consumption model is integrated into the evaluation function of ARA* algorithm,and the existing ARA* algorithm is improved.In the part of local path planning algorithm,the parameters of evaluation function of DWA algorithm are optimized,and the parameters of evaluation function that are suitable for semi-structured environment are obtained,so as to improve the navigation efficiency of the robot.Then,the simulation verification of the path planning algorithm is completed under ROS platform.By ROS of simplified model of the platform to build prototype and simulation model of the TF coordinate transformation relations,after obtaining experimental scenario 2 d grid map,based on the improved ARA * algorithm and the energy consumption model of robot global path planning algorithm,based on the parameter optimization design of DWA algorithm comparing the local path planning algorithm of verification,and the simulation results are analyzed.Finally,the robot prototype was built,and the physical test scene was built,and the relevant experiments and tests were completed.In the aspect of control system verification,each module of the control system is tested,and the information acquisition and transmission capability of the robot is verified.In the part of algorithm entity test,the comparison and verification of robot entity test with the low-energy path planning algorithm in semi-structured environment are carried out,and the test results are analyzed.