Path Planning for Mobile Robots with Courteous Behaviors in Domestic Environments

被引：0
|
作者：
Yu, Hao [1 ]
Kuang, Zongxin [1 ]
Sun, Fengchi [1 ]
Yuan, Jing [2 ]
Liu, Mingming [1 ]
Xie, Maoqiang [1 ]
机构：
[1] Nankai Univ, Coll Software, Tianjin 300350, Peoples R China
[2] Nankai Univ, Coll Artificial Intelligence, Tianjin 300350, Peoples R China
来源：
2021 PROCEEDINGS OF THE 40TH CHINESE CONTROL CONFERENCE (CCC) | 2021年
关键词：
indoor mobile robot; path planning; obstacle avoidance; courteous behavior; ASTERISK;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Along with the development of artificial intelligence, it has become a trend for mobile robots to serve and coexist with humans in domestic environments. It is significant to research path planning and make robots realize courteous behavioral patterns. These patterns can make robots avoid moving obstacles more regularly, and promote robots to get along with humans better. In this paper, we analyze common path planning algorithms for mobile robots. In order to realize courteous behaviors of mobile robots, we consider global path planning and local path planning comprehensively. We propose a method combining the smoothing ARA* algorithm for global path planning and the improved DWA algorithm for local path planning. The simulated experiments verify the effectiveness of the proposed algorithm.
引用
收藏
页码：3894 / 3899
页数：6
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