Path Planning for Nonholonomic Mobile Robot in Dynamic Environment

被引：0
|
作者：
Kang Liang [1 ]
Mao Lian-cheng [1 ]
机构：
[1] Sch Elect & Elect Engn, Shanghai, Peoples R China
来源：
PROGRESS IN MECHATRONICS AND INFORMATION TECHNOLOGY, PTS 1 AND 2 | 2014年 / 462-463卷
关键词：
mobile robot; path planning; dynamic environment;
D O I：
10.4028/www.scientific.net/AMM.462-463.771
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
Based on introduction of the fluid diffusion energy, the model for path planning is presented. The adaptive mesh is used to solve the equation model for path planning. Based on the dynamic model and kinematic constraints of the nonholonomic mobile robot, a trajectory tracking controller is designed. Theory and calculation results prove that, as a new method for mobile robot path planning, the equation of the fluid diffusion energy for nonholonomic mobile robot path planning is feasible and effective.
引用
收藏
页码：771 / 774
页数：4
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