Artificial moment method using attractive points for the local path planning of a single robot in complicated dynamic environments
Wang-bao Xu, Jie Zhao, Xuebo Chen, Ying Zhang · Robotica · 2013
SUMMARY A novel path planner is presented for the local path planning of a single robot (represented withR) in a complicated dynamic environment. Here a series ofattractive pointsare computed based onattractive segmentsfor guidingRto move along a shorter path. Each attractive segment is obtained by using the full environmental knowledge and will be used for several sampling times in general. A motion controller, which is designed based on artificial moments and a robot model that has a principal motion direction line(PMDline), makesRmove closely to attractive points while away from obstacles. Attractive and repulsive moments are designed, which only makeR's PMDline face toward attractive points and opposite to obstacles in general, as in most cases,Rwill move along its PMDline with its full speed. Because of the guidance of attractive points andR's full-speed motion, the global convergence is guaranteed. Simulations indicate that the proposed path planner meets the requirements of real-time property while can optimizeR's traveling path.