Research On Path Search Algorithm Based On Mobile Robot

Mobile robot is a multi-functional automatic execution working machine device integrating environment perception,dynamic decision and planning,behavior control and execution.It has the characteristics of strong mobility and can work in complex environment,and it is widely used in industry,military and service industry,and path search technology is the key core technology for its implementation.The ultimate goal of path search is to enable the robot to search out an optimal path from the beginning to the end in a complex environment with obstacles according to certain rules.Because current path search algorithms have problems such as long debugging time,poor path search results,and low dynamic obstacle avoidance efficiency,only global search methods or local search methods cannot complete such search tasks better.Therefore,the research on path search technology has important practical significance in realizing the path search of mobile robots.Based on the analysis of the existing algorithms of the mobile robot path search technology,this paper proposes a global path planning algorithm based on expansion points and an artificial potential field algorithm based on dynamic obstacles for the deficiencies of the existing algorithms.It solves the problems of long search time,poor path search effect and low dynamic obstacle avoidance efficiency in the path search process,and achieves the purpose of improving the efficiency of path search and the ability of dynamic planning.The achievements of this paper mainly include the following aspects:First,in order to solve the problem of the large number of path nodes and poor planning effect in the process of global path planning,a global path planning algorithm based on extension points is proposed.The algorithm realizes the optimization of the path node by adding a parent pointer to the path node and designing a distance evaluation function.This algorithm effectively reduces the number of path nodes and improves the efficiency of global path planning.Secondly,aiming at the problem of dynamic obstacles during the movement of mobile robots,an artificial potential field algorithm based on dynamic obstacles is proposed.The algorithm uses the path node list obtained by global path planning as initial data to determine the local search range group,Improve the artificial potential field function,add a dummy target module,Effectively improve the accuracy of the direction of movement and the ability to avoid obstacles in real time.In addition,for the problem of unstable step length in the moving process,the step length is adjusted by the step length control function to improve the stability of the movement.On this basis,the MATLAB design simulation platform is used to simulate and test the above results.The simulation results show that compared with existing algorithms,The algorithm proposed in this paper can significantly improve the accuracy and dynamic planning ability of the mobile robot’s path search task,and achieve the expected goal.