The Path Planning And Safe Navigation Of Mobile Robots

Mobile Robots are fit for working in the complex nonstructural environment, with high ability about self-planning, self-organization and self-adaptation. Path planning and safe navigation are the core research field of mobile robots, which are also the key technologies in AI and automatics.This paper focus on the path planning for automatic mobile robots and the safe navigation for multi-agents system, basing on the omnidirectional robots. The first passage introduces the development and background of robot technology; the second passage is the high level control method; the third passage is the path planning; the fourth passage is the safe navigation in dynamic environment; the last passage shows the conclusions.The main contributions include:(1) Analysis the mechanics and construct the kinetic functions for the four wheel omnidirectional mobile robot. Develop the trapezoid model for the high level control for the mobile robot.(2) Because the basic RRT planned path is unstable and not optimal in dynamic environment, an improved algorithm of robots RRT path planning based on comparison optimization is proposed. Describe the details of the algorithm and conclude the advantages from the results for simulations and experiments on mobile robots.(3) Propose a novel method for safety among a set of cooperating robots which operate under the realistic dynamics. Describe the algorithm in a top-down manner and optimize the approach to improve efficiency.All the theories and algorithms are delivered and applicable in the FANTASIA, the Robocup SmallSize robots soccer team of Dalian University of technology. And the team has won series of Robocup competitions.