Path Planning Based on Astar Algorithm in Mobile Robot

Abstract

The food processing industry is one of the fundamental industries in our daily lives. In recent years, with the development of industrial robot technology, its application in food processing has become increasingly widespread, and the position of robots in industrial production has become higher and higher. At present, many factories choose to use robots to complete some assembly line work, while fully automated factories are widely used due to their high efficiency, reduced energy loss, and irreplaceable accuracy and sustained efficiency that cannot be replaced by manual labor. This trend is gradually increasing with the development of local path planning and other core robot technologies.In this context, we have decided to design a robotic arm mobile platform that can be applied to bakeries. For the fermentation process of bread, we use the mobile robot platform to complete the tasks of picking dough, placing it on the work loss line, and transferring it to the finished product placement point in a constant temperature environment. We even use the robotic arm to ensure that the bread is placed on the shelf from a high-temperature oven in a sterile environment before transportation, thereby saving labor costs, improving work efficiency, and ensuring the hygiene of the production environment. In addition, it is necessary to maintain the collection of surrounding obstacle information in complex indoor environments and improve the information processing ability of the obtained information, in order to plan the shortest path based on the layout of the bakery. In order to improve the efficiency of factory work, this work simulated the application scenario of a bakery and used Astar algorithm for path planning, aiming to ensure that the mobile platform of the robotic arm can complete its work while minimizing unnecessary consumption, collisions, and labor costs.