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Study on Real-time Path Planning Algorithm of Mobile Robot in Unknown Environment

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Tutor: ZuoMaoDe
School: Chang'an University
Course: Applied Computer Technology
Keywords: Mobile Robots,Real-time path planning,Fuzzy Control,Subgoals,Tabu Search
CLC: TP242
Type: Master's thesis
Year:  2009
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Abstract:
With control theory, sensors, computers and artificial intelligence technology, mobile robotics gaining the attention of scholars at home and abroad , and in the scientific research, military support , and personal services such as industrial production has been successfully applied in many fields . Real-time mobile robot path planning is a critical study of the basic techniques , but also to achieve fully autonomous mobile robot movement key , it is based on real-time detection of mobile robot dynamic programming environment information from an initial position to a predetermined target collision-free paths. In this paper, Pioneer3-AT mobile robot platform for real-time mobile robot in unknown environment path planning problem for a more in-depth study , completed the real-time path planning software design and implementation , and the simulation and experimental validation in. The main research work and the results are as follows : 1, unknown environment for mobile robots and accurate modeling of difficult situations , studies based on fuzzy control method for real-time path planning . By using hierarchical fuzzy control structure , to solve the \2, for real-time control based on fuzzy path planning method \type function evaluation tabu search algorithm generates current optimal sub-goals , and thus by fuzzy control sub- target tracking , and finally to the gradual and progressive way to achieve collision-free path optimization , overcoming repeat visits , symmetry can not be determined , such as local minima and oscillation problem . Simulation results verify the correctness and effectiveness of the algorithm . 3 , designed and developed based on Client / Server architecture , real-time path planning software . Use the software for the simulation and real environment test , verify the correctness and validity of the proposed algorithm discovered experimental mobile robot in a real environment problems pointed out the direction for future research .
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