LP-based Path Planning Method in Acceleration Space for Mobile Robot
Han Jian · Acta Automatica Sinica · 2007
A linear programming(LP)based method in the acceleration space is proposed for the path planning of the mobile robot in the dynamic and uncertain environment.By using the relative information,the path planning of the mobile robot in the dynamic environment is described as minimizing an objective function subject to a set of linear inequalities that are easily embedded into the LP path planner.Simulations are carried out and the results show that the proposed method is more efficient and more convergent than the artificial potential guided evolution algorithm(APEA).