Path Planning Of Mobile Robot Based On Node Optimization Strategy

Mobile robot is at the forefront of current scientific technological research and represents the direction of high-tech development.The application scenario of mobile robot has long been extended to all walks of life related to human life.As a key technology in mobile robots,stipulation planning became the main priority for research.This thesis conducts research in stipulation planning of mobile robot and chooses algorithm A* as the basic algorithm.In view of the problems with algorithm A* in stipulation planning,a strategy based on node optimization is proposed to improve it.Then the optimized trajectory is smoothed based on B-spline curve.Finally,a visual platform is built in Unity3 D engine for virtual simulation experiment.The specific research contents are as follows:1)By comparing and analyzing the modeling methods of the mobile robot environment,the grid map is selected to model the obstacle environment.The environment of the robot is transformed into a two-dimensional plane finite region.Then,the irregular obstacles in space are expanded,and the grid map model required for the research is obtained in MATLAB.2)Aiming at the problems of low search efficiency and many redundant nodes when A* algorithm performs path planning under grid map,an improved A* algorithm based on node optimization strategy is proposed.First,the heuristic function is weighted and reconstructed to make it expand to the target node more directionally during the path search,which effectively improves the search efficiency.Then,the redundant node optimization strategy of three-point method and circle method is proposed,and the secondary optimization of the path is carried out to reduce the redundant nodes in the path.3)After node optimization,there are still some problems such as excessive turning Angle and uneven path,which affect the stability of mobile robot operation.In this thesis,the trajectory after node optimization is smoothed based on B-spline curve.Then,the improved A* algorithm is fused with the B-spline trajectory smoothing algorithm,and several groups of experiments are carried out in MATLAB.The simulation results verify that the fusion algorithm in this work has a good planning effect.4)The Unity3 D engine visualization simulation platform was built to realize the motion immersion visualization of mobile robots in the built scene based on virtual reality technology.The experimental results further verify that the proposed fusion algorithm has better planning effect.