Path Planning for Mobile Robots Based on Hybrid Architecture Platform

摘要

In this paper, a hybrid architecture is used to develop the software platform of path planning of mobile robots. It consists of four levels: the decision-making layer, the behavior layer, the command parsing layer and the hardware communication layer. The whole framework of the decision-making system is based on the global planning, which is realized by using the ant colony algorithm. In the process of movement, the robot detects the real-time local information using the sensors mounted on it, and calls diffident behaviour objects to revise the global path for diffident situations. The experimental results show that the mobile robot has good capacity for unexpected situations in the process of moving along the optimal path.