A Modified BUG Algorithm based on Obstacle Velocity Estimation for Mobile R006Fbot Path Planning

摘要：

This paper presents a robot path planning algorithm in dynamic environment, which is designed for the nature of dynamic working environment.This algorithm, based on an obstacle model in polar coordinate, employs parameters such as the current velocity of obstacles and robot itself, estimates the position of potential collision, and then calculates related points for each obstacle, and is finally weighted by three reference values to select the optimal path.Simulation and real robot experiments demonstrate the effectiveness and feasibility of the algorithm.

关键词： mobile robot obstacle velocity estimation path planning

作者: Shuoyuan Cheng Wanmi Chen Jinhuan Liu Fei Liu

作者单位: Sch.of Mechatronics Engineering and Automation,Shanghai Univ.Shanghai,China Sch.of Mechatronics Engineering and Automation,Shanghai Univ.Shanghai,China Shanghai Key Lab.of Powe Network Information Center,Second Military Medical University,Shanghai,China To who correspondence s

会议类型: 国际会议

会议名称: 2011 3rd International Conference on Computer and Network Technology(ICCNT 2011)(2011第三届IEEE计算机与网络技术国际会议)

会议地点: 太原

会议语种:英文

页码: 502-506

在线出版日期: 2011-02-26（万方平台首次上网日期，不代表论文的发表时间）