| Abstrakt: |
For target searching with robot in large search area, path planning spends long time and is affected by the surrounding environment, which makes the efficiency of the whole searching is not high. In this way, a shortest path control method for target searching using robot in a large range of complex tasks is proposed. This method utilizes environmental information collected by laser sensors to establish an environmental map for searching, and uses slime mold optimization algorithm to find the shortest path and avoids collision with obstacles. The objective function for robot's target path searching is established to obtain the shortest path. To ensure the robot's movement is optimal, a path controller is applied during the robot's target searching process. The experimental results show that the proposed method effectively avoids obstacles in the path, the planned path distance is kept within 5 m, and the path planning time is less than 50 s, which indicates that the proposed method has high path planning efficiency. [ABSTRACT FROM AUTHOR] |
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