Research on IGV Mobile Vehicle Robot Path in Dynamic Environment
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Xu Ronghua, Zhang Guoping, Yu Wenjin, Gao Xuefeng, and Zhang Qingsong
The evolution of various behavior modes of mobile robots described by non-linear differential equation is used to simulate human path planning. The problem of path planning for mobile robots in dynamic environment is studied by behavioral dynamics method. Firstly, the behavior variables and behavior modes of path planning are determined, the course angle dynamics model and velocity dynamics model of the robot are constructed, and the unstable fixed points are analyzed, and the corresponding solutions are given. Secondly, in order to get a better path planning, the competitive model is used to adjust the weight of the behavior mode adaptively. And the simulation results show that the model is correct. And the weight adjustment is effective.
Mobile vehicle robot, Dynamic environment, Path