Generally speaking, the mobile robot is capable of sensing its surrounding environment, interpreting the sensed information to obtain the knowledge of its location and the environment, planning a real-time trajectory to reach the object. In this process, the issue of obstacle avoidance is a fundamental topic to be challenged. Thus, an adaptive path-planning control scheme is designed without detailed environmental information, large memory size and heavy computation burden in this study for the obstacle avoidance of a mobile robot. In this scheme, the robot can gradually approach its object according to the motion tracking mode, obstacle avoidance mode, self-rotation mode, and robot state selection. The effectiveness of the proposed adaptive path-planning control scheme is verified by numerical simulations of a differential-driving mobile robot under the possible occurrence of obstacle shapes.
Adaptive Path Planning for Mobile Robot Obstacle Avoidance
2011-06-26
oai:zenodo.org:1059845
Article (Journal)
Electronic Resource
English
DDC: | 629 |
Underwater robot obstacle avoidance device and real-time path planning method
European Patent Office | 2020
|Dynamic obstacle avoidance path planning of UAVs
IEEE | 2015
|Obstacle Avoidance Path Planning of Rotor UAV
British Library Conference Proceedings | 2017
|