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Journal of Zhejiang University SCIENCE A 2006 Vol.7 No.4 P.516-524


On-line real-time path planning of mobile robots in dynamic uncertain environment

Author(s):  Zhuang Hui-zhong, Du Shu-xin, Wu Tie-jun

Affiliation(s):  Institute of Intelligent Systems and Decision Making, National Laboratory of Industrial Control Technology, Zhejiang University, Hangzhou 310027, China

Corresponding email(s):   hzzhuang@iipc.zju.edu.cn, shxdu@iipc.zju.edu.cn, tjwu@iipc.zju.edu.cn

Key Words:  Mobile robot, Dynamic obstacle, Autoregressive (AR) prediction, On-line real-time path planning, Desirable direction angle

Zhuang Hui-zhong, Du Shu-xin, Wu Tie-jun. On-line real-time path planning of mobile robots in dynamic uncertain environment[J]. Journal of Zhejiang University Science A, 2006, 7(4): 516-524.

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%A Zhuang Hui-zhong
%A Du Shu-xin
%A Wu Tie-jun
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T1 - On-line real-time path planning of mobile robots in dynamic uncertain environment
A1 - Zhuang Hui-zhong
A1 - Du Shu-xin
A1 - Wu Tie-jun
J0 - Journal of Zhejiang University Science A
VL - 7
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SP - 516
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PB - Zhejiang University Press & Springer
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DOI - 10.1631/jzus.2006.A0516

A new path planning method for mobile robots in globally unknown environment with moving obstacles is presented. With an autoregressive (AR) model to predict the future positions of moving obstacles, and the predicted position taken as the next position of moving obstacles, a motion path in dynamic uncertain environment is planned by means of an on-line real-time path planning technique based on polar coordinates in which the desirable direction angle is taken into consideration as an optimization index. The effectiveness, feasibility, high stability, perfect performance of obstacle avoidance, real-time and optimization capability are demonstrated by simulation examples.

Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article


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