Research On Patn Planning For Mobile Robot In Complex Environment

Path planning is one of the most basic and pivotal aspects in research of mobile robot,which is to solve the walking problem of robot.This paper mainly studies the path planning of mobile robot in different environments,including point-to-point path planning and improvement in the general environment,semi enclosed path planning around crops in greenhouse and 3D path planning.According to the different characteristics of path planning in these three environments,the corresponding algorithms are developed,and the effectiveness of the algorithms are verified by the simulation results.1.Smoothing ant colony algorithm is proposed to improve the path quality of mobile robot.In the use of ant colony algorithm for path planning,the nodes of path are in the center of the free grid,which can cause unnecessary turning and redundant path.Smoothing ant colony algorithm is based on the optimal path planned by ant colony algorithm,connecting the current node and the nodes after the turning point,deleting original node and replacing the initial path by the new line as no obstacles existing on the line.Otherwise,the current path is not modified.2.A method of path planning is proposed for greenhouse mobile robot.Farmers plant crops with a certain structure under greenhouse environment.Mobile robot need to move around the plant so as to fertilize,spray and other works in greenhouse.The movement mode of robot is special in greenhouse,so combining ant colony algorithm and artificial potential field method,utilizing the characteristics of global search and the positive feedback of the ant colony algorithm and the advantages of the artificial potential field method to orient the motion and avoid the obstacle in advance.After defining the working area and starting and ending point of the robot,the new algorithm will plan the optimal path of the robot.3.A new method of path planning based on ant colony algorithm in three-dimensional environment is proposed.First,the workspace is divided into planes,and then these planes are rasterized.Ants release pheromones on nodes rather than in the edge between nodes to reduce the huge distance matrix,saving storage space,meanwhile designing of heuristic function improves the validity of the algorithm.