Research on Mobile Robot's Motion Control and Path Planning

  • Authors:

  • Shigang Cui;Xuelian Xu;Li Zhao;Liguo Tian;Genghuang Yang

  • Affiliations:

  • School of Automation and Electric Engineering, Tianjin University of Technology and Education, Tianjin, China 300222;School of Mechanical Engineering, Tianjin University of Technology and Education, Tianjin, China 300222;School of Automation and Electric Engineering, Tianjin University of Technology and Education, Tianjin, China 300222;School of Automation and Electric Engineering, Tianjin University of Technology and Education, Tianjin, China 300222;School of Automation and Electric Engineering, Tianjin University of Technology and Education, Tianjin, China 300222

  • Venue:
  • ISNN 2009 Proceedings of the 6th International Symposium on Neural Networks: Advances in Neural Networks - Part III
  • Year:
  • 2009

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Abstract

In this article, the kinematics modeling for the practical robot and movement formula have been established, whose are considered by the feasibility and reliability of actual control, and controls the movement of mobile robot by the planning route, guides the robot to complete the mission. On the other hand, ant colony optimization algorithm is used to solve the robot path planning. Based on the original ant colony optimization algorithm, it modifies the route choice strategy and the pheromone updating strategy etc. according to the information provided by the global map and the mission to complete. And the experimental results on MATLAB are convinced the optimal path.