Research on path planning algorithm of indoor mobile robot

摘要

In recent years, indoor mobile robot navigation problems have become the key issues research of the scholars. In order to meet the requirements of a simple robot control, path planning algorithm should have two characteristic at least: the least inflection point and the shortest path, but the elements are often contradictory. The paper has established a rectangular obstacle model according to the features of indoor obstacle. First, it is to determine whether there are obstructions on the pro-domain path between the start point and end point. Secondly, the path is selected according to the number of nodes and overall distance. Finally, the paper has made the simulation of different situations.