An Anthropopathic Path Planning Method for Indoor Service Robots

摘要：

Indoor environment is distinct from other robot workspace. On one side, most of the information of indoor objects can be acquired beforehand. On the other side, dynamic obstacles exist in indoor environment. The path planning problem is difficult for indoor service robots. A new path planning method for indoor service robots is proposed in this article. Firstly, the complicated global path is decomposed into several sub-routes by priori model of static indoor environment. For each sub-route, a shortest path is computed with a modified visibility graph and Dijkstra algorithm. Finally, local path planning is realized with laser scanner sensor. The whole process of path planning imitates the manner of human path planning. The algorithm is simple and could be applied on the real-time navigation system of indoor service robot.

关键词： path planning service robot visibility graph

作者: Yanhua Mu Yixin Yin Tieqiang Sun

作者单位: School of Information Engineering University of Science and Technology Beijing.Beijing, China

会议类型: 国际会议

会议名称: The Second International Symposium on Intelligence Computation and Applications(ISICA 2007)(第二届智能计算及其应用国际会议)

会议地点: 武汉

会议语种:英文

在线出版日期: 2007-09-21（万方平台首次上网日期，不代表论文的发表时间）