Research And Simulation Of Mobile Robot Path Planning Algorithm

In recent years,with the rapid development of mobile robot technology,path planning is an important part of it,so this problem has become a hot research field.However,most of the path planning algorithms only stay in theoretical research,and have not been applied to practical problems,and the algorithm itself has some limitations to a certain extent.Aiming at the shortcomings of the path planning algorithm,this thesis improved the A~* algorithm and the dynamic window method respectively and finally proposed A hybrid algorithm to complete the path planning of mobile robots in the unknown environment.The research content of this thesis is as follows:1.Aiming at the problems of A~* algorithm,such as too many turning times,poor smoothness of path and low search efficiency,the traditional A~* algorithm is researched and improved,and the evaluation function and sub-node selection method are optimized,and the bidirectional smoothness of path is optimized.2.Aiming at the problem that dynamic window method is easy to fall into local optimum,the traditional dynamic window method is studied and improved,and the initial attitude of mobile robot is adjusted and the evaluation function is improved.3.Based on the above two algorithms,this thesis finally puts forward A hybrid algorithm for mobile robot path planning,first of all,with the improved A * algorithm is A global path planning,and get A more optimal preventive path,and then use the improved dynamic window method of local path planning,to ensure that the mobile robot can be quickly,accurately and safely to arrive at the target location.Finally,some simulation experiments are carried out in MATLAB to verify the effectiveness and superiority of the algorithm in theory.4.In order to further verify the practicability of the hybrid algorithm,the actual environment was simulated in ROS and Gazebo,and the mobile robot model was used to conduct simulation experiments.Experimental results show that the hybrid algorithm can successfully avoid obstacles and safely reach the target location,and complete the path planning in the dynamic uncertain environment,which shows that the hybrid algorithm has a good performance in practical application.