石鸿雁, 孙昌志. 非结构环境下移动机器人的运动规划[J]. 机器人, 2004, 26(1): 27-31..
SHI Hong-yan, SUN Chang-zhi. MOTION PLANNING FOR MOBILE ROBOT UNDER UNSTRUCTURED ENVIRONMENT. ROBOT, 2004, 26(1): 27-31..
Abstract：The priority of moving obstacles in an unstructured environment is defined,and a real-time obstacle-avoidance motion planning strategy is proposed for mobile robots in the environment which has multiple obstacles moving in an uncertain way. An expression is presented to predict the obstacle locations under uncertain circumstances after k sampling periods. Simulation results show that the strategy is effective and practical.
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