Virtual Obstacles Based Path Planning for Mobile Robots
YE Weiyao1, WANG Chunxiang1, YANG Ming2, WANG Bing2
1. Research Institute of Robotics, Shanghai Jiao Tong University, Shanghai 200030, China; 2. Key Laboratory of System Control and Information Processing, Ministry of Education, Department of Automation, Shanghai Jiao Tong University, Shanghai 200030, China
叶炜垚, 王春香, 杨明, 王冰. 基于虚拟障碍物的移动机器人路径规划方法[J]. 机器人, 2011, 33(3): 273-278,286..
YE Weiyao, WANG Chunxiang, YANG Ming, WANG Bing. Virtual Obstacles Based Path Planning for Mobile Robots. ROBOT, 2011, 33(3): 273-278,286..
Abstract:A virtual obstacles based path planning method for mobile robot in urban road environment is presented.It's based on both the benefits of global and local path planners.Firstly,it uses A* algorithm to produce a global optimal path.Secondly,virtual obstacles are generated according to the global path.Finally,by fusing virtual and actual detected obstacles,the local path is planned based on the improved vector field histogram method.This method can not only fully utilize environment information to get the global optimal path,but also avoid the stochastic obstacles on the road in real-time. Practical experiments illustrate the effectiveness and robustness of this method.
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