Title :
A Complete Coverage Path Planning Method for Mobile Robot in Uncertain Environments
Author :
Qiu, Xuena ; Song, Jiatao ; Zhang, Xuejun ; Liu, Shirong
Author_Institution :
Coll. of Electron. & Inf. Eng., Ningbo Univ. of Technol.
Abstract :
In this paper, a novel complete coverage path planning method based on the biologically inspired neural networks, rolling path planning and heuristic searching approach is presented for mobile robot motion planning with obstacles avoidance. The biologically inspired neural network is used to model the environment and calculate the environment information, while the rolling planning technique and the heuristic searching algorithm are utilized for the path planning. Simulation studies show that the proposed method is very effective for the dynamic uncertain environments
Keywords :
collision avoidance; heuristic programming; mobile robots; neurocontrollers; search problems; uncertain systems; biologically inspired neural networks; complete coverage path planning; dynamic uncertain environments; heuristic searching; mobile robot; motion planning; obstacle avoidance; rolling path planning; shortest tangent; Biological system modeling; Biomembranes; Educational institutions; Equations; Mobile robots; Motion planning; Neural networks; Neurons; Path planning; Robotics and automation; biologically inspired neural network; complete coverage path planning; rolling planning; the shortest tangent;
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.2006.1713719
