QU Dao-kui1,2, DU Zhen-jun2,3, XU Dian-guo1, XU Fang2
1. Harbin Institute of Technology, Harbin 150001, China; 2. Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China; 3. Graduate School of the Chinese Academy of Sciences, Beijing 100049, China
曲道奎, 杜振军, 徐殿国, 徐方. 移动机器人路径规划方法研究[J]. 机器人, 2008, 30(2): 97-101,106..
QU Dao-kui, DU Zhen-jun, XU Dian-guo, XU Fang. Research on Path Planning for a Mobile Robot. ROBOT, 2008, 30(2): 97-101,106..
Abstract：A path planning method based on both the benefits of global and local path planners and those of deliberate and reactive behavior planners is proposed for indoor mobile robot path planning in dynamic and unstructured environments.The global path planner uses A* algorithm to generate a series of sub-goal nodes to the target node,and the local path planner adopts an improved potential field method to smooth and optimize the path between the adjacent sub-goal nodes.Taking into full consideration the kinematical constraints of the mobile robot,this method can not only effectively generate a global optimal path using the known information,but also handle the stochastic obstacle information in time.Results of simulations and realistic running in complex indoor environments validate the effectiveness of the presented algorithm.
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