CHENG Ping, SUN Maoxiang, YIN Chaowan, WANG Yanhong. OPTIMAL MOTION PLANNING FOR MOBILE ROBOTS IN A DYNAMIC ENVIRONMENT WITH MULTIPLE MOVING OBSTACLES USING HIERARCHICAL OPTIMAL CONTROL[J]. ROBOT, 1997, 19(4): 294-299.
Citation: CHENG Ping, SUN Maoxiang, YIN Chaowan, WANG Yanhong. OPTIMAL MOTION PLANNING FOR MOBILE ROBOTS IN A DYNAMIC ENVIRONMENT WITH MULTIPLE MOVING OBSTACLES USING HIERARCHICAL OPTIMAL CONTROL[J]. ROBOT, 1997, 19(4): 294-299.
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OPTIMAL MOTION PLANNING FOR MOBILE ROBOTS IN A DYNAMIC ENVIRONMENT WITH MULTIPLE MOVING OBSTACLES USING HIERARCHICAL OPTIMAL CONTROL

    Abstract
  • This paper addresses motion planning for mobile robots in a dynamic environment with multiple moving obstacles.A novel motion planning strategy based on hierarchical optimal control theory is presented for mobile robots to solve the problem of navigation and obstacle avoidance.The simulation results are presented to demonstrate its efficiency.
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