基于声纳的移动机器人局部路径规划研究-控制理论与控制工程专业论文.docxVIP

华 华 中 科 技 大 学 硕 士 学 位 论 文 II II Abstract With the continuous progress of robot’s technology, mobile robot represents the development of information technology, automation technology, system integration technology to some extent in recent time. The real-time obstacle avoidance and path planning is one important research aspect of the mobile robot. For the information got by sensors is limited and using this information, the robot’s actions should accord with robot’s kinetic restriction, mobile robot local path planning is always a difficult problem in path planning realms. The thesis’s research makes a deep and systematic study of multi-aspect of the robot’s obstacle avoidance and path planning based on the Pioneer 2-Dxe robot which is made by ActivMedia Robotics Company. The main research of the thesis is how to use sonar sensors to realize the obstacle avoidance and path planning. The thesis researches principles and methods of local path planning based on the summary of mobile robot’s phylogeny and current research. The thesis makes a summary and contrast on several typical methods such as potential field method, grid method and genetic algorithms method. It makes a deep research on the strong points and the shortcomings of artificial potential field method and grid method. And author point out the way such as establishing sector-grids and setting up temporary and suppositional goals to overcome the shortcomings. Then, the thesis puts forward a new Sonar-Based Mobile robot local path planning method which is based on the artificial potential field method and grid method. And author optimizes the new method. The new method integrates the strong points of artificial potential field method and grid method to overcome the shortcomings of them. The author experiment the mobile robot local path planning algorithm. The experimental results reveal the availability of the path planning algorithm. The method reduces the amount of data processing and memory. And it overcome