Path Planning of Mobile Robots in Dynamic Environment Using Chaotic Prediction

To solve path planning problems of mobile robots in dynamic environment, various methods have been developed. This paper focuses on the dynamic workspace in which the target and obstacles are moving while the boundary is stationary. Based on the distance-propagating algorithm, an improved algorithm with chaotic control and prediction is presented in this circumstance. The proposed algorithm can predict the motion of target effectively according to its current position and trajectory, which enhances the possibility and accuracy of path planning in dynamic environment. Simulation showed that for curved trajectory, even the target moves faster than the robot, it is also possible for the robot to catch the target by using the proposed algorithm.