Title :
Real-time Path Planning of Mobile Robots in Dynamic Uncertain Environment
Author :
Zhuang, Hui-zhong ; Li, Han ; Du, Shu-xin
Author_Institution :
Dept. of Mech. Electron. Eng., Shanghai Univ. of Eng. Sci.
Abstract :
A new path planning method for mobile robots in globally unknown environment with moving obstacles is presented. With an autoregressive (AR) model to predict the future positions of moving obstacles, and the predicted position treated as instantaneously static, a motion path of the mobile robot is planned by means of a real-time path planning technique based on polar coordinates space in which the desirable direction angle is taken into consideration as an index of path optimization. Its effectiveness, feasibility, high stability, perfect performance of obstacle avoidance, real-time and optimization capability are demonstrated by simulation examples
Keywords :
autoregressive processes; collision avoidance; mobile robots; motion control; stability; uncertain systems; autoregressive model; desirable direction angle; dynamic obstacle; dynamic uncertain environment; mobile robots; motion path; moving obstacles; obstacle avoidance; path optimization; polar coordinate space; position prediction; real-time path planning; stability; Educational institutions; Hidden Markov models; Industrial electronics; Mobile robots; Navigation; Orbital robotics; Path planning; Predictive models; Real time systems; Robot kinematics; Mobile robot; desirable direction angle; dynamic obstacle; polar coordinates space; real-time path planning;
Conference_Titel :
Intelligent Control and Automation, 2006. WCICA 2006. The Sixth World Congress on
Conference_Location :
Dalian
Print_ISBN :
1-4244-0332-4
DOI :
10.1109/WCICA.2006.1713718
