ZHANG Chun-gang, XI Yu-geng. ROLLING PATH PLANNING OF MOBILE ROBOT IN DYNAMIC UNKNOWN ENVIRONMENT[J]. ROBOT, 2002, 24(1): 71-75.
Citation: ZHANG Chun-gang, XI Yu-geng. ROLLING PATH PLANNING OF MOBILE ROBOT IN DYNAMIC UNKNOWN ENVIRONMENT[J]. ROBOT, 2002, 24(1): 71-75.

ROLLING PATH PLANNING OF MOBILE ROBOT IN DYNAMIC UNKNOWN ENVIRONMENT

  • Using the rolling optimization concept adopted in predictive control, robot path planning in global unknown environment with moving obstacles is studied. A new strategy of path planning based on rolling windows for a mobile robot is proposed. The method makes full use of the real-time local environmental information detected by the robot and the path planning is performed on-line in a rolling style. Optimization and feedback are combined in a reasonable way. It is well suitable to dynamic environment.
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