Local robot path planning with predicting band trajectories of obstacles

摘要：

we study the problem of robot path planning in an environment with dynamic obstacles and present a method of local robot path planning with the prediction of the trajectory of an obstacle being a band. First, the time to sample information of an obstacle is determined according to its position within the vision of the robot and the trajectory of the obstacle is predicted based on information above. Different from traditional methods, the predicted trajectory is not a curve, but a band; and then the risk of collision between the robot and the obstacle is evaluated based on the predicted trajectory; finally, for the case of their collision, a mathematical model of local robot path planning is formulated and particle swarm optimization is employed to solve it. We analyze the method above theoretically and conduct simulations. The results confirm that our method decreases the probability of collision between the robot and the obstacle greatly.

关键词： robot path planning dynamic obstacle particle swarm optimization, band trajectory

作者: Gong Dunwei Geng Na

作者单位: School of Information and Electrical Engineering China University of Mining and Technology XuZhou, China

会议类型: 国际会议

会议名称: 2011 Seventh International Conference on Natural Computation(第七届自然计算国际会议 ICNC 2011)

会议地点: 上海

会议语种:英文

页码: 1760-1764

在线出版日期: 2011-07-26（万方平台首次上网日期，不代表论文的发表时间）