Research on Path Planning and Motion Control Technology for Mobile Robot Doing Inspection

A hybrid path planning algorithm that improves the fusion of the A* algorithm and the dynamic window algorithm is proposed to address the problem that the path of the mobile robot is not optimal and cannot avoid temporary obstacles during inspection operations in complex environments. The kinematic analysis of the mobile inspection robot is carried out firstly, and the relationship between the robot running speed and robot posture is derived, and a motion control scheme is proposed. Secondly, the robot's environment map is constructed, and the problem that the traditional A* algorithm has more inflection points in the path planning process is pointed out. Then, based on the 8 directional neighbourhood search strategy, a 16 directional neighbourhood search strategy is proposed, and the dynamic window algorithm is incorporated in order to make the robot avoid temporary obstacles in the actual operation process. The experimental results show that the fused algorithm can not only avoid temporary obstacles effectively, but also reach the target point accurately.