A hybrid approach for mobile robot path planning in dynamic environments

	A hybrid approach for mobile robot path planning in dynamic environments
	Du ZJ(杜振军); Qu DK(曲道奎); Xu F(徐方); Xu DG(徐殿国)
	2007
会议名称	IEEE International Conference on Robotics and Biomimetics (ROBIO 2007)
会议日期	December 15-18, 2007
会议地点	Sanya, China
关键词	mobile robot path planning dynamic environments
页码	1058-1063
中文摘要	A strategy based on both the benefit of global path planer and local path planner and the benefit of deliberate path planner and reactive path planner is proposed for indoor mobile robot navigation in unstructured and dynamic environments. Global path planner uses A* method to generate a series of sub-goal points to the target point, and local path planner adopts an improved potential field method to smooth the path between the pre-planned sub-goal points. This method can not only effectively generate a global optimal path using the known information, but also handle the unknown obstacles in the dynamic environments in time. The satisfactory performance of our algorithm is validated via simulations and realistic operating conditions.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议主办者	IEEE Robot & Automat Soc, Shandong Univ, Chinese Univ Hong Kong, Chiba Inst Technol, Robot Soc Japan, Soc Instrument & Control Engn, Japan Soc Mech Engn, ROBIO Fdn
会议录	2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-5
会议录出版者	IEEE
会议录出版地	NEW YORK
语种	英语
ISBN号	978-1-4244-1761-2
WOS记录号	WOS:000257065801019
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/7655]
专题	沈阳自动化研究所_其他
推荐引用方式 GB/T 7714	Du ZJ,Qu DK,Xu F,et al. A hybrid approach for mobile robot path planning in dynamic environments[C]. 见:IEEE International Conference on Robotics and Biomimetics (ROBIO 2007). Sanya, China. December 15-18, 2007.