Obstacle Avoidance Planning Algorithm for Mobile Robot Based on Unknown Environment with Multi-target
Zhulin Yu · Machine Tool & Hydraulics · 2009
The method of obstacle avoidance planning for mobile robot based on the virtual force field and genetic algorithms was presented in unknown environment with multi-target.The method uses GA for planning the optimal path of targets and in the process of traversing each target,it uses virtual force field for obstacle avoidance based on the environmental information from the ultrasonic sensor.The method is effective in resolving obstacle avoidance planning in unknown environment with multi-target.