Research on the Path Planning Algorithm of Mobile Robot

摘要

Aiming at the problem of local deadlock and path redundancy when mobile robots are running in a complex and unknown environment, specific application design and simulation comparisons of several existing local path planning methods are carried out, and the planning process The problems that have arisen propose solutions. The principle and usage scenarios of three local path planning algorithms, artificial potential field method, Rapid-exploration Random Tree and bidirectional Rapid-exploration Random Tree are analyzed emphatically. Simulation tests are carried out on the MATLAB platform to verify the feasibility of the designed method Sex and effectiveness. This paper optimizes the RRT algorithm to get the B-RRT algorithm, so that the calculation time of path planning is greatly shortened.