On-line real-time path planning of mobile robots in dynamic uncertain environment

作     者：ZHUANG Hui-zhong DU Shu-xin WU Tie-jun 

作者机构：Institute of lntelligent Systems and Decision Making National Laboratory of lndustrial Control Technology Zhejiang University Hangzhou 310027 China 

出 版 物：《Journal of Zhejiang University-Science A(Applied Physics & Engineering)》 (浙江大学学报（英文版）A辑（应用物理与工程）)

年 卷 期：2006年第7卷第4期

页      面：516-524页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

主　　题：Mobile robot Dynamic obstacle Autoregressive (AR) prediction On-line real-time path planning Desirable direction angle 

摘      要：A new path planning method for mobile robots in globally unknown environment with moving obstacles is pre- sented. With an autoregressive (AR) model to predict the future positions of moving obstacles, and the predicted position taken as the next position of moving obstacles, a motion path in dynamic uncertain environment is planned by means of an on-line real-time path planning technique based on polar coordinates in which the desirable direction angle is taken into consideration as an optimization index. The effectiveness, feasibility, high stability, perfect performance of obstacle avoidance, real-time and optimization capability are demonstrated by simulation examples.