Dynamic Path Planning for Mobile Robots Using Chaotic Prediction

This paper presents an efficient algorithm for real-time mobile robots path planning in dynamic environment. It focuses on the dynamic workspace in which the target and obstacles are moving while the boundary is stationary. The proposed algorithm improves distance-propagating system and introduces chaotic control and prediction. So it can predict the motion of target effectively and enhance the accuracy of path planning. Besides, a particular case that the target moves faster than the robot is discussed in this paper. Simulation showed that for curved trajectory, it is also possible for the robot to catch the target by using the proposed algorithm.