Obstacle avoidance path planning of cart based on Fourier transform random probability function
Hui Dong, Weidong Wang, Zhijiang Du · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 2015
This paper presents a novel method to solve the obstacle avoidance path planning of mobile robots based on global probability density function (PDFs). Combining Fourier transform for the group of rigid-body motion in the plane, the resulting convolution theorem, and the particular single-step PDFs of a cart, we obtained global PDFs for describing the movement probability of a mobile robot. The iterative algorithm based on global PDFs takes into full account the information of target position and position of obstacles, which avoids collision between mobile robots and obstacles to obtain an optimal or near-optimal collision-free path. Simulations are carried out to demonstrate the effectiveness of the algorithm.