On-line motion planning of an autonomous mobile robot based on sensory information

A planning procedure is developed for the navigation of a mobile robot in an unknown environment. A modified Gilles algorithm is used for path planning based on the world model which can be constructed from or modified by sensory information. with this algorithm, the environment is modelled as cells generated by using the safe-margin of obstacles. this method results in faster search than the original Gilles algorithm. The quadratic method is used to search for the desired path in a region of quadrant that is determined by the start and goal positions. To construct an environment model by means of the sensory information, the method of using bit-mapping sequences is developed. It is further fit into the world model and used by the path planning procedure. Smooth motion planning is achieved by using the predictor method in order to facilitate a direct commanding to the real robot. A monitor is developed using the techniques of expert systems to run the computer simulation