Research of the Path Planning Complexity for Autonomous Mobile Robot under Dynamic Environments

Author

Shi, Hongyan ; Sun, Xiaoming ; Sun, Changzhi ; Chen, Dongyang ; An, Yuejun

Author_Institution

Coll. of Sci., Shenyang Univ. of Technol.

Volume

3

fYear

2006

fDate

16-18 Oct. 2006

Firstpage

216

Lastpage

219

Abstract

By using the two methods of Lyapunov exponent and power spectra analysis, it is tested and verified that chaotic phenomenon exists in time sequence of distance information that autonomous mobile robot has got from sensors between robots and obstacles. The complexity of path planning for autonomous mobile robot through sensors is explained under dynamic environments by use of chaotic phenomenon. The existence of chaotic phenomenon makes the path planning for autonomous mobile robot under dynamic environments NP-hard and also lays the foundation for revealing why navigation of autonomous mobile robot under dynamic environments is NP-hard

Keywords

Lyapunov methods; computational complexity; mobile robots; path planning; sensor fusion; spectral analysis; Lyapunov exponent; NP-hard; autonomous mobile robot navigation; chaotic phenomenon; distance information; dynamic environment; obstacle; path planning complexity; power spectra analysis; sensors; time sequence; Chaos; Cities and towns; Intelligent robots; Mobile robots; Navigation; Path planning; Robot sensing systems; Sensor phenomena and characterization; Space technology; Sun; Autonomous mobile robot; Chaos; Path planning.;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Systems Design and Applications, 2006. ISDA '06. Sixth International Conference on

Conference_Location

Jinan

Print_ISBN

0-7695-2528-8

Type

conf

DOI

10.1109/ISDA.2006.38

Filename

4021888