Two-wheeled Robot Motion Planning Based on A* Algorithm with Anti-collision Mechanism and Immune Algorithm with Cloning Mechanism

The two-wheeled robot motion control and route planning are studied from two perspectives. Firstly, based on the simplified model and basic data assumptions of the two-wheeled robot, a set of dynamics equations based on the basic mechanics of the robot is derived. Then a three-dimensional motion model based on the Newton Euler method is further established to derive a set of differential equations. After that, a two-wheeled robot motion planning model based on the A
^*
algorithm with anti-collision mechanism and the immune algorithm with cloning mechanism is proposed by analyzing the ergonomics, safety, rationality and stability. In order to further consider the rationality, stability comprehensively and combine the characteristics that the shortest motion trajectory consists of a series of unit displacement points, a multi-objective motion planning evaluation function is constructed, and the clone-immune algorithm is used for the optimal solution, so as to derive the optimal velocity, acceleration, vehicle inclination angle, and vehicle inclination velocity on each displacement point. Finally, the transformed relations are imported into the simulation model constructed by Simulink to obtain the relational curves that yield the variation of the torque on the wheels with time, which leads to the robot motion control strategy for the robot operating environment map.