Wangbao Xu and Mingyan Sun
Mobile robot, local path planning, obstacle avoidance, artificial moment method
A novel method for determining the use of attractive segments, which are important with respect to attractive points and safety for robots in path planning problems, is presented. In this method, a novel condition is proposed to determine whether the attractive segment at the last time instant can be used continuously, based on the following conceptualisation. The attractive segment can be continuously used if its work–time number, namely, the working duration, is less than its threshold time number. Otherwise, it should not be used, because the reasonability of the motion towards the segment cannot then be guaranteed. The existing algorithm for the end points of the attractive segments was simplified, based on the proposed condition. The presented method is simpler and is easier to understand than the existing one. The simulations indicate that the solution is of high quality.
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