Research On Path Planning Algorithm For Mobile Robot In Complex Environment

Since the birth of the first mobile robot in the 1960s,mobile robot technology has ushered in vigorous development,and now it has been applied to all aspects of life.At present,mobile robot is no longer satisfied with simple mobile control technology,but has gradually developed in the direction of autonomy.If the mobile robot wants to achieve complete autonomy,it is inseparable from the mobile robot path planning technology.With the increasing development of path planning technology,the environment with only simple static obstacles and a single optimization goal have been difficult to meet the actual needs of people.Therefore,this paper first carries on the path planning in the environment with complex static obstacles,then adds dynamic obstacles to the environment to continue the research,and finally extends from single robot to multi-robot,and the optimization target is also increased from single to multiple.The main research results of this paper are as follows:(1)Aiming at the path planning problem when there are only static obstacles in the environment,a smooth path planning algorithm based on improved A~*ant colony is proposed.The algorithm first initializes the ant colony pheromone with the improved A~*algorithm,then improves the state transition probability function,updates the ant colony pheromone based on the inequality principle mechanism,then uses the genetic algorithm with elite strategy to independently optimize the parameters of the algorithm,and finally uses the Bezier curve to deal with the smoothness of the planned path.Simulation results show that the algorithm performs well in both simple and complex static obstacles.(2)Aiming at the problem of path planning when there are dynamic obstacles in the environment,a path planning algorithm based on rolling window method is proposed.The algorithm adds the rolling window method on the basis of the improved A~*ant colony algorithm to predict the collision in the rolling window.when the collision will occur,the local sub-target punctuation is selected firstly,and then the local path planning is carried out with the obstacle avoidance strategy.Simulation results show that the algorithm can avoid obstacles effectively when there are dynamic obstacles in the environment,and can plan a reasonable path.(3)Aiming at the path planning problem when there are multiple robots in the environment and multiple targets are optimized at the same time,a multi-target path planning algorithm based on multi-robot cooperation is proposed.The algorithm is improved on the basis of the non-dominated sorting genetic algorithm,including adding the cooperative co-evolutionary algorithm framework,proposing the elite individual retention strategy,and using the adaptive calculation method of crossover and mutation probability.Simulation experiments show that the algorithm can converge faster than other improved algorithms,and can solve the multi-objective path planning problem more effectively.(4)Aiming at the physical verification of the path planning algorithm proposed in this paper,a set of mobile robot path planning experimental platform is built.The platform is mainly divided into two parts:software server and hardware mobile car,in which the software server is written by Java language,and the mobile car uses raspberry pie 3B+as the main control unit,and the data is transmitted between them through TCP protocol.The path planning algorithm of this paper is integrated in the map of the experimental platform,and the effectiveness of the algorithm is successfully verified by the platform in the final experiment.