Research On Intelligent Robot Path Planning Based On Complex Environment Of Terminal Building

At present,the terminal building has problems such as complex layout,large passenger turnover,and the inability of airport service personnel to respond quickly to passenger needs.The introduction of intelligent robot technology can effectively improve the efficiency of airport services and shorten the transit time of passengers.Path planning is one of the key technologies of intelligent robots.In view of the problems of traditional path planning algorithms,such as long search paths,time-consuming and unsmooth paths,two improved path planning algorithms are proposed and verified by experiments.In this thesis,a method based on the improved A* algorithm,the improved dynamic window algorithm and the fusion of the two algorithms is proposed for the path planning of the indoor intelligent robot in the airport terminal.Aiming at the problems of long paths and large number of search nodes searched by the traditional A* algorithm,different distance calculation methods are used to obtain the optimal distance calculation method,and the weight value of the A* heuristic function is changed to conduct experiments to obtain the optimal weight value.Improve the A* algorithm to improve the algorithm search efficiency.Since the DWA algorithm is prone to local locking,the fuzzy algorithm is used to fuzzify the input variables,and the optimal weight coefficients α,β,γ are obtained through fusion calculation according to the formulated goal-oriented fuzzy rules and safety obstacle avoidance fuzzy rules.The combination of,completes the improvement of the DWA algorithm.Finally,the fusion experiment of the improved A* algorithm and the improved DWA algorithm is carried out.Combined with the advantages of the A* algorithm and the DWA algorithm,the obstacle avoidance of the local environment is carried out under the globally optimal path,and the experiment is carried out in the Gazebo simulation environment.Experiments show that the algorithm after the fusion of A* algorithm and DWA algorithm can combine the advantages of both to plan a short,smooth and efficient global path.