Path Planner of Nonholonomic Wheeled Mobile Robots Based on Navigation Evaluation Function

This paper studies the method of path planning for nonholonomic wheeled mobile robots in the known environments. The path planner based on optimization is proposed. This planner takes full account of the distance and angle between the robot and the target, velocity and obstacles to the navigation evaluation function, and then formulates the path planning problem in the discrete optimization problem. On the current state of robot, the range of input is determined by dynamic window, then the avoidance obstacles optimization input is solved by genetic algorithm. In this paper, the relationship of the target and obstacles is also accounted. Numerical simulations were performed to illustrate the effectiveness of the proposed planner in static, moving obstacles and dynamic object tracking, respectively.