Given a route to a destination, a mobile robot still needs to locally plan a path to avoid collisions in continuously changing environment, e.g., a hall with pedestrians and moving obstacles. In this paper, diffusion maps are applied to find a local path for reaching a goal and avoiding collisions simultaneously. The proposed path planning algorithm plans a local path by utilizing a receding horizon approach, and therefore the algorithm repeats planning at every sample time. With this approach, mobile robots do not have to carry a prior map all the time because updated environment information is used for planning at every sample time. Extensive simulation is performed in different scenarios and demonstrates a good performance in collision avoidance.
Dynamic Diffusion Maps-based Path Planning for Real-time Collision Avoidance of Mobile Robots
2018 IEEE Intelligent Vehicles Symposium (IV) ; 2224-2229
2018-06-01
2399106 byte
Conference paper
Electronic Resource
English
DYNAMIC DIFFUSION MAPS-BASED PATH PLANNING FOR REAL-TIME COLLISION AVOIDANCE OF MOBILE ROBOTS
British Library Conference Proceedings | 2018
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