WU Dengfeng, MEI Zhiqian, YIN Liwei, LI Xiangguo

 

(College of Mechanical and Electrical Engineering, Hohai University, Changzhou 213022, China)

 

 

Abstract: Aiming at the problem that the pathplanning algorithm of indoor mobile robot is most oriented in theory , less applied into pracitce, a kinematic model of the mobile robot was built,a gridbased modeling method was used to divide the indoor environment into blocks, a novel algorithm about indoor mobile robot′s path planning for unknown environment was designed with the help of Pioneer P3DX robot and its simulation software MobileSim.The grid mode was built based on the the width of the robot ,then the “point to point” path planning method was adopted. The paceplanning algorithm was simulated on MobileSim and experimented on the P3DX. The results indicate that the method is effective ,and has good operability.

 

Key words: P3DX; MobileSim; unknown environment; path planning; gridbased modeling method