Research And Implementation Of Intelligent Mobile Robot Navigation Strategy

Intelligent mobile robot is a composite system integrated with multiple functions such as environmental awareness, dynamic decision making and planning, behavior control and execution etc.. The research findings of sensor technology, information technology, electronic technology, computer technology, automation control technology, and artificial intelligence contribute to the development of the robot, it’s one of the most active areas of research. As the performance of robots being improved, its applications expand greatly. It is widely used not only in industry, agriculture, health care and services, but also in urban security, national defense, space exploration and other harmful and dangerous situations. Thus, mobile robot technology has obtained worldwide attentions.This thesis mainly focuses on path planning algorithms in mobile robot navigation. The works done and main contributions are summarized as follows:1) We introduce relevant theoretical foundation about mobile robot navigation including:robot system architecture, kinetic model and control, localization and mapping, obstacle detection and path planning.2) We expound the path planning in details, including theoretical principles, development trends and difficulties etc., we highlight a classic path planning algorithm:D*Algorithm, and we also introduce an improved algorithm:D*Lite.3) We also introduced the experimental environment and equipments, such as the platform iRobot Create, the robot operation system ROS and webcam Kinect.4) We realize the D*Lite with C++, and the experimental results show that with limited resources such as computing ability and hardware devices, we can achieve path planning in some certain complex situations. Thus its feasibility for commercial popularizing.