Space Planning of Mobile Robot Guided by Path Edge

摘要

The visual navigation mobile robot is greatly influenced by environmental parameters, which leads to poor optimization control ability of the robot. In order to improve the stability of the spatial planning of the mobile robot, a guidance algorithm for the spatial planning of the visual navigation mobile robot based on path edge guidance is proposed. The parameter distribution model of spatial distribution of moving path of visual navigation mobile robot is constructed, and the constraint parameters of spatial path planning adjustment of visual navigation mobile robot are analyzed. The steady-state control problem of spatial path planning adjustment of visual navigation mobile robot is transformed into the optimization problem of path edge guidance parameters, which effectively realizes the transformation of moving path characteristics and error compensation correction of path guidance of visual navigation mobile robot. Combined with the motion planning model, the robot spatial behavior path is driven, and the spatial path planning and behavior characteristics steady-state adaptive control of the visual navigation mobile robot are completed. The simulation results show that the path space planning control of visual navigation mobile robot has good stability and superior adaptive control performance, which improves the adaptive control and parameter optimization adjustment ability of visual navigation mobile robot.