摘要在计算机、人工智能、自动化控制等技术日益发展的今天，对自主式移动机器人的研究进入了新的篇章。移动机器人的发展目前正处于方兴未艾的阶段，是当前的最前沿领域之一。对移动机器人的发展不仅具有创新性和战略性，对国家安全和国民经济也有着巨大的影响。虽然环境的复杂性、不确定性和多变性，给机器人的运动研究带来了极大的困扰，但是基于它是机器人完成其他高级任务的基础这一原因，人们一直以极大的热情在对它进行研究。86054

本文对移动机器人路径规划进行概述，介绍了目前国内外对它的研究现状，阐述了对它进行研究的意义和实用价值；从底盘控制部分和云台控制部分两个方向详细的介绍了某轮式移动机器人的硬件系统，接着主要说明了视觉系统在机器人路径规划中的关键地位；在了解了硬件基础上，对移动机器人进行运动学和动力学分析。然后以某全方位轮移动机器人为分析对象，为它们建立运动学和动力学模型；然后介绍了一些在移动机器人中的关键技术和路径规划中常用的一些基本方法论。最后以蚁群算法为例，分析它的原理后，用Matlab对它进行仿真，验证它的有效性。

仿真实验表明：本文所提到的算法能够对自主式移动机器人在路径规划方面起到很好的优化作用。

毕业论文关键词：自主式移动机器人；运动建模；路径规划；蚁群算法

ABSTRACT Nowadays, with the development of computer, artificial intelligence, automatic control technology, the research of autonomous mobile robot has entered a new chapter。 The development of mobile robot is not only innovative and strategic, but also has great influence on national security and national economy。 The development of mobile robot is currently in the ascendant phase, is currently one of the most cutting-edge areas 。At present, the market is not saturated, with great demand, can stimulate the growth of the economy。 Due to the complexity, uncertainty and variability of the environment, the motion of the robot is greatly disturbed。Since it is also the basis for the robot to perform other advanced tasks, it has been a great enthusiasm for its research。 

In this paper, the path planning of mobile robot is summarized, and the current research situation at home and abroad is introduced, and the significance and practical value of the research are expounded。 From chassis control part and control part of the two direction with the introduction to the hardware system of a wheeled mobile robot, then mainly explains the key position of vision system in robot path planning 。Based on the understanding of the hardware, the kinematics and dynamics analysis of the mobile robot is carried out。 Then take an omni-directional wheel mobile robot as the analysis object, and build up the kinematics and dynamics model。 Then some basic methods are introduced, which are used in the key technology and path planning of mobile robot。 Finally, taking the ant colony algorithm as an example, after analyzing its principle, the Matlab is used to simulate it, and its effectiveness is verified。 

Finally, simulation experiments show that the algorithm mentioned in this paper can optimize the path planning of autonomous mobile robots。 

Keywords  Autonomous mobile robot, motion modeling, path planning,   ant colony algorithm 

目录

第一章  绪论 1

1。1 路径规划概述 1

1。2 研究现状及发展趋势 1

1。2。1 国内研究现状 1

1。2。2 国外研究现状 2

1。2。3 路径规划技术发展趋势