NDLI: Real-Time Path Planning for Mobile Robots

Content Provider	IEEE Xplore Digital Library
Author	Hui-Zhong Zhuang Shu-Xin Du Tie-Jun Wu
Copyright Year	2005
Description	Author affiliation: Institute of Intelligent Systems and Decision Making, National Laboratory of Industrial Control Technology, Zhejiang University, Hangzhou 310027, P. R. China E-MAIL: hzzhuang@iipc.zju.edu.cn (Hui-Zhong Zhuang)
Abstract	A new on-line real-time approach with obstacle avoidance for mobile robots moving in an uncertain environment has been proposed and implemented. With the integration of global planning and local planning, this path planning approach is based on polar coordinates in which the desirable direction angle is taken into consideration as an optimization index. Detecting unknown obstacles with local feedback information by robot’s sensor system, this approach orients the desirable direction of mobile robot so as to generate local sub-goal in every planning window. As a result, the difference between real direction angle and desirable direction angle of robot motion steers the mobile robot to detour collisions and advance toward the target without stopping to re-plan a path when new sensor data become available. This approach is not only simple and flexible, but also overcomes flaws of global planning and local planning. The effectiveness, feasibility, real-time performance, optimization capability, high precision and perfect stability are demonstrated by means of simulation examples.
Sponsorship	IEEE Syst., Man and Cybernetics Tech. Comm. on Cybernetics, Hong Kong Polytechnic Univ. Hebei Univ. South China Univ. Chongqing Univ. Sun Yat-sen Univ. Harbin Inst. of Technol. and Int. Univ. in Germany
Starting Page	526
Ending Page	531
File Size	305643
Page Count	6
File Format	PDF
ISBN	0780390911
DOI	10.1109/ICMLC.2005.1527001
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-08-18
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Path planning Mobile robots Motion planning Navigation Robot kinematics Robot sensing systems Sensor systems Robot motion Robotics and automation Collision avoidance desirable direction angle Mobile robot real-time path planning
Content Type	Text
Resource Type	Article

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