Feng G. Liu, Kyung D. Kim, and Suk G. Lee
mobile robot, improved rolling windows, behavioral dynamics, path planning
We describe a new mobile robot path planning approach which combines improved rolling windows and behavioral dynamics. First, the local environment’s information is obtained by double ultrasonic sensors and a CCD camera, and subgoal is chosen optimally by using heuristic function according to the window’s information. Then navigation behavior is divided into avoiding obstacles and pursuing the desired direction behavior. This algorithm embodies global optimization of local path planning of the robot in real time under local environment. Furthermore the navigation dynamics model makes path of robot smooth. The efficiency and adaptability of the proposed algorithm is demonstrated by simulation.
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