Research On Path Optimization And Visualization Of Mobile Robot Under Energy Managemnent Strategy

With the wide application of mobile robots and the proposal of the national new generation intelligent development plans,the demand for robots,autonomous driving,and UAVs is becoming more and more extensive.Path planning is an indispensable technical link.A~* algorithm is a commonly used algorithm,however,it takes a long time and the path is not smooth in the path-finding process.The research object of this thesis is a wheeled mobile robot,and it uses a battery as an energy source,which has the limitation of limited energy.This thesis carries out the following researches on path planning and energy consumption optimization:(1)The energy consumption of wheeled mobile robot is studied,and a multi-factor energy consumption model is established,including motor efficiency,ground friction,potential energy change,speed change,turning.By studying the search method of the optimal node,the optimal node A~* algorithm for path planning of wheeled mobile robot with optimal energy consumption(ONA~* algorithm)is proposed,which can overcome the defect that the A~* algorithm takes a long time to find the path.Compared with the simulation results of A~* algorithm path planning under the shortest distance constraint condition and the optimal energy consumption constraint condition,ONA~* algorithm can not only reduce energy consumption per unit distance,but also shorten the path planning time.(2)The problem of path smoothing is studied,and the lazy theta~*algorithm is introduced,which can smooth the path planned by A~*algorithm,expand the lazy theta~* algorithm from the path planning and smoothing in two-dimensional plane or three-dimensional space to the path smoothing in three-dimensional terrain,however,there are situations where the path cannot be smoothed and many potholes cannot be avoided.On the basis of studying the grid coordinate calculation formula of two nodes’ straight lines,an application study of lazy theta ~* algorithm in 3D terrain based on surface distance calculation method is proposed,that is,the optimal turning position of path is studied,and an optimal turning point lazy theta~* algorithm(OTLT~* algorithm)is proposed to improve the setting method of parent node.The simulation results show that the proposed OTLT~* algorithm can avoid most slopes,reduce energy consumption per unit distance and shorten the running time of the algorithm while smoothing the path planning of the wheeled robot in 3D terrain.Using cubic uniform B-spline curve to smooth the bending angle of the path turning into rounded corner,the ONA~* algorithm,OTLT~*algorithm and B-spline multi-strategy fusion algorithm is proposed to give full play to the advantages of ONA~* algorithm and OTLT~*algorithm.(3)Based on Unity3D,ONA~* algorithm,OTLT~* algorithm and B-spline curve multi-strategy fusion algorithm is studied for path planning visualization of wheeled mobile robot,and multi-strategy fusion algorithm simulation experimental map and robot operation virtual environment with obstacles are built.The dynamic visualization allows mobile robot to move along the path found by the algorithm and draw the moving route.The energy consumption of mobile robots is displayed in real time.Finally,the immersive roaming of mobile robots in the virtual operating environment is realized in the virtual reality engineering center.