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

http://doi.org/10.1631/jzus.2006.A0516


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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year="2006",
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doi="10.1631/jzus.2006.A0516"
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%T On-line real-time path planning of mobile robots in dynamic uncertain environment
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%A Du Shu-xin
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%J Journal of Zhejiang University SCIENCE A
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%DOI 10.1631/jzus.2006.A0516

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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
IS - 4
SP - 516
EP - 524
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PB - Zhejiang University Press & Springer
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DOI - 10.1631/jzus.2006.A0516


Abstract: 
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

Reference

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[7] Rude, M., 1997. Collision avoidance by using space-time representations of motion processes. Autonomous Robots, 4(1):101-119.

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[9] Shensa, M.J., 1981. Recursive least squares lattice algorithms—A geometrical approach. IEEE Trans. Auto. Control, 26(3):695-702.

[10] Takeshi, A., 1994. Motion Planning for Multiple Obstacles Avoidance of Autonomous Mobile Robot Using Hierarchical Fuzzy Rule. Proceedings of IEEE International Conference on Multi-sensor Fusion and Integration for Intelligent System (MFI’94), Las Vegas, p.265-271.

[11] Tang, P., Zhang, Q., Yang, Y.M., 2000. Studying on Path Planning and Dynamic Obstacle Avoiding of Soccer Robot. Proceedings of the 3rd World Congress on Intelligent Control and Automation, University of Science and Technology of China, Hefei, p.1244-1247.

[12] Zhu, Q., 1991. Hidden markov model for dynamic obstacle avoidance of mobile robot navigation. IEEE Trans. on Robotics and Automation, 7(3):390-396.

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