Path Planning Obstacle Avoidance Algorithm Based on Wheeled Robot

摘要

There are many obstacles and movements in the indoor environment. Indoor robots need to cope with the changing environment. This paper studies the obstacle avoidance problem of wheeled robots moving in an unknown environment. Firstly, the dynamic path planning algorithm for robot autonomous obstacle avoidance is studied, and the algorithm is implemented in C# language. Then use the Unity3D game engine to simulate the algorithm. The innovations of this algorithm are as follows: 1. Vectorize the path of the robot; 2. Summarize the motion state of the obstacle and the robot into six cases. During the movement process, the obstacle movement state is continuously judged, and the speed and direction of the obstacle are analyzed. The judgment result must belong to six situations. The experiment proves that the algorithm can solve the obstacle avoidance problem when encountering obstacles of different speeds and sizes, and has stronger applicability.