Quadratic Planning Obstacle Avoidance Path Control for Mobile Robots in Two-Dimensional Unknown Environments
The current use of a one-time planning strategy in obstacle avoidance and path planning for mobile robots in two-dimensional unknown environments can lead to slow convergence speed,weak path planning ability,and low operational efficiency of control algorithms.Therefore,a quadratic planning obstacle avoidance path control method for mobile robots in two-dimensional unknown environments is proposed.Using the grid method to describe the unknown working environment of mobile robots,preliminary planning of their obstacle avoidance paths is carried out on the grid map,and all preliminarily planned obstacle avoidance paths are used as the initial solutions of the ant colony algorithm quadratic programming problem.The impact of the robot's motion state on the path during turns and flat roads are considered as a constraint condition for quadratic programming to ensure that the generated control path conforms to the robot's motion ability and limitations in unknown environments.The path is subsequently optimized through ant movement and pheromone updates until the optimal obstacle avoidance control path is found.The experimental results show that this method has high convergence speed,search efficiency,and path planning ability.
unknown environmentmobile robotspath planninggrid methodanalysis of motion statusant colony
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