Path Planning in Mobile Robot Coordinated Control
|School||North China Electric Power University (Beijing)|
|Course||Control Theory and Control Engineering|
|Keywords||Robotic fish Genetic Algorithms Dynamic Programming Path planning Simulation Control Platform|
Due to the importance of the ocean in the military and resources , water robot in recent years become a hot issue in the international study . Fish swimming with high-speed , efficient , flexible , low-noise characteristics , become the focus of robotics research in water bionic robotic fish . And for ROBOFISH focused on in the analysis of the movement mechanism and mechanical structure and path planning for robotic fish is relatively small , this article success to the use of genetic algorithms and dynamic programming robotic fish path planning and achieved good results. This paper first introduces the research background and analysis of the research status at home and abroad , and describes the main research work . Then introduced the principle of multi underwater robot cooperative control system and control platform hardware and software environment . And then introduce the main idea of the genetic algorithm , the main idea of the genetic algorithm used in the path planning of robotic fish . The divided grid method for robotic fish workspace robot fish reproduction, crossover , and mutation operation represented by the grid environment shortest collision-free path . Thought segmented control and fuzzy control were designed robotic fish along the speed control algorithm and direction control algorithms , the robotic fish actually promote the route as far as possible consistent with the the ideal optimal path through the genetic algorithm . Corresponding control command is then issued by the computer to the machine fish . The experimental results show that this method is effective . Characteristics of linear motion tracking for robotic fish can not be seen as the path of the robot fish to certain sections of a circular path , the path planning algorithm based on dynamic programming ideas based on genetic algorithm to obtain the optimal path , robotic fish can tracked the shortest obstacle avoidance corresponds to the speed and direction of the circular path and the various stages of robot fish . Corresponding control command is then issued by the computer to the machine fish . The effectiveness of the method is verified by experiments in the control system of robotic fish .