Research and Implementation of Mobile Robot Path Planning Algorithm and Simulation System Platform

I. Research background

The emergence and development of robots has greatly improved the labor efficiency of industry and agriculture and profoundly changed the face of human life. The advancement and application of robotics is the most convincing achievement of automatic control in the 20th century, and it is the automation of the highest level in the modern era. In the 1950s, the world's first robot was born in the United States, and the robot has truly entered people's lives. With the development of computer technology, VLSI, control theory, artificial intelligence, sensors and other related technologies, the research on robotics has entered a new stage. From early programmable, teach-and-reproduce industrial robots to robots with certain sensing and adaptability, to intelligent sensors equipped with a variety of advanced sensors, robotics has gone from simple to complex, with a single function. To the versatility, from industrial manufacturing to military reconnaissance, nuclear industry, aerospace, services, medical equipment, genetic engineering, social services, entertainment and other fields of the process. In the field of human exploration of the universe, the US "Courage" has landed on Mars for automatic detection, and China's "Chang'e No. 1" is around the moon, representing the highest level of technology of the current robot. In the foreseeable future, the application of robotics in various fields will be more extensive and in-depth.

At present, robots are developing in the direction of intelligence and diversification, and the scope of application has been greatly expanded. With the continuous deepening of robot research at home and abroad, a variety of special robots and various intelligent robots with sensing, decision-making, action and interaction capabilities have been developed, and various prototypes, such as mobile robots, have been introduced. Micro-robots, underwater robots, military robots, service entertainment robots, humanoid robots, etc.

Mobile robots are the most representative kind of robots. It focuses on multi-disciplinary research results in sensor technology, mechanical engineering, electronic engineering, automation control engineering, image real-time processing, computer vision and artificial intelligence, representing the highest achievement of mechatronics. Therefore, the study of robotics formed by multidisciplinary intersection has entered a new stage. Mobile robots have important military and civilian values, and they are extremely versatile in harsh environments. For example: automatic demining robots, underwater robots for deep seabed exploration, unmanned smart cars, coal mining robots in mines, and oil and gas exploration robots.

For mobile robots to be practical, they must have competent motion systems, reliable navigation systems, accurate sensing capabilities and the ability to work with people safely and amicably. In addition, the intelligence of mobile robots is also the key to determining their application prospects. factor. In general, intelligent robots should have the basic functions of three interactions: perception, thinking and dexterity. The indicators for evaluating the intelligence of a mobile robot include autonomy, adaptability and interactivity. Autonomy means that the robot can determine the work steps and work methods according to the work tasks and the surrounding environment. Adaptability refers to the ability of the robot to adapt to the complex work environment (mainly through learning), not only to identify and measure the surrounding objects, but also Have the ability to understand the surrounding environment and the tasks to be performed, and to make the right judgment and operation and movement; interactivity is the basis of intelligence generation, including three kinds of robots and environment, robots and people and robots, mainly involved Information acquisition, processing and understanding.

Second, the subject research overview

The technology involved in robotics is complex and expanding, such as multi-sensor information fusion, path planning, robot vision, intelligent human-machine interface, etc., for which a series of research topics have emerged.

Path planning is a very important part of robotics research, and it has important significance in scientific research, economics and military. Therefore, there are many researches on the path planning of scientists at home and abroad, from the aspects of algorithm design, algorithm analysis and simulation experiment.

2.1 Introduction to Mobile Robots

Robot is one of the representative directions of today's high-tech development. In terms of its development, it has experienced the following three stages:

The first stage is a programmable teach-and-reproduce robot. It is not equipped with any external sensors, generally with simple switch control, teach reproduction control and programmable control. The robot's working path or motion parameters need to be taught or programmed. It can't sense the change of environment and improve its performance. ,quality.

The second stage is an offline programming robot with certain sensing functions and certain adaptability. This kind of robot is equipped with a simple internal sensor, which can sense the physical quantity such as speed, position and posture of its own motion, and uses the feedback of these information to form closed-loop control. Simple external sensors such as simple vision and force sensor have partial adaptation. The ability of the external environment.

The third stage is an intelligent robot. Currently in research and development, it has a variety of external sensor sensing system, which can accurately describe the external environment by acquiring and processing external environmental information, and can accomplish a certain task autonomously. In general, it has its own knowledge base, multi-information processing system, can work in a structured or semi-structured environment, and can make corresponding decisions according to changes in the environment.

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