Development of a Robust Path-Planning Algorithm Using Virtual Obstacles for an Autonomous Mobile Robot

被引：6
|
作者：
Ueno, Kentaro [1 ]
Kinoshita, Tetsuo [1 ]
Kobayashi, Kazuyuki [1 ]
Watanabe, Kajiro [1 ]
机构：
[1] Hosei Univ, Grad Sch Sci & Engn, 3-7-2 Kajino Cho, Koganei, Tokyo 1848584, Japan
来源：
JOURNAL OF ROBOTICS AND MECHATRONICS | 2015年 / 27卷 / 03期
基金：
日本学术振兴会;
关键词：
switching; path planning; potential path planning;
D O I：
10.20965/jrm.2015.p0286
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
In this paper, we describe the development of a robust path planning algorithm for an autonomous mobile robot. In order to achieve safe navigation in areas with moving obstacles, the mobile robot has to be controlled by a dynamic path-planning algorithm to avoid collisions. However, depending on changes in obstacle positions, the dynamic path planning algorithm frequently faces path-switching problems. In order to avoid the path-switching problems in the dynamic path planning algorithm, we introduce a virtual obstacle assignment method to suppress events caused by the path-switching problems. The effectiveness of proposed method is proved by an actual mobile robot. The validity of proposed method is confirmed by both simulations and actual outdoor experiments.
引用
收藏
页码：286 / 292
页数：7
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