A Behavior-based Real-time Path Planning for Mobile Robot
Jianhua Shan · Control Engineering of China · 2009
To the indoor mobile robot navigation requirements,a simple real-time path planning method based on four stimulate-action behaviors is designed,which takes two-dimensional laser radar as sensor to detect the environment.The obstacle-avoidance behavior role is to cause the robot to pass through the narrow and small channel,or escape from the narrow region under certain obstacle environment.The obstacle-approaching behavior role is to move the robot along the obstacle until the open area.The path-searching behavior role is to constantly move the robot towards the target.The linear behavior role is to make the robot arrive the target point.The robot can effectively search the path and does not need the localization information.The simulation results show that the algorithm runs fast and can be used to avoid the unknown obstacles without collision and to simultaneously steer the mobile robot toward the target in a smooth and stable path and continuous motion.