A Method for Trajectory Planning of Mobile Robot in Random Obstacles Environment

Author

Myongchol Tokgo ; Renfu Li ; Cholwon Kim ; Lin Hu ; Myongchol Kim

Author_Institution

Dept. of Aerosp. Eng., Huazhong Univ. of Sci. & Technol., Wuhan, China

Volume

2

fYear

2014

fDate

26-27 Aug. 2014

Firstpage

51

Lastpage

54

Abstract

This paper presents an improved method for trajectory planning of mobile robot in random obstacle environments. A combination of first local then global path planning is used in the real-time planning system modeling. The global path planning method adopting target direction angle tracking strategy is formulated. The local trajectory planning method is implemented by a quantum-behaved particle swarm optimization algorithm which was developed in our previous work. The software is coded in Matlab frame. The results from simulations demonstrate the effectiveness and feasibility of current method for trajectory planning of mobile robot in random obstacles environments.

Keywords

collision avoidance; control engineering computing; mobile robots; particle swarm optimisation; trajectory control; global path planning; local path planning; mobile robot; quantum-behaved particle swarm optimization algorithm; random obstacle environment; real-time planning system modeling; target direction angle tracking strategy; trajectory planning; Heuristic algorithms; Mobile robots; Planning; Target tracking; Trajectory; Moblie robot trajectory planning; Quantum behavior particle swarm optimization algorithm; Random obstacles; Target direction angle tracking method;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Human-Machine Systems and Cybernetics (IHMSC), 2014 Sixth International Conference on

Conference_Location

Hangzhou

Print_ISBN

978-1-4799-4956-4

Type

conf

DOI

10.1109/IHMSC.2014.115

Filename

6911446