Research on real-time path planning based on searching double safe edge points
Hongwei Mo · Harbin Gongcheng Daxue Xuebao/Journal of Harbin Engineering University · 2009
A new real-time path planning method was developed for mobile robots in unknown and uncertain environments.This new method first searches double safe edge points,which aids collision avoidance and works even with limited real-time environmental information,and then uses a heuristic algorithm,which can optimize the path.So real-time path planning based on searching double edges points has been realized.The real working environment of robots is complex,so this kind of ability is necessary,especially in U-shaped environments.A simulation was done in two U-shaped environments and complex environment.The results showed this new method has the characteristics of faster reaction,suitability in unknown and uncertain environments,and real-time ability to plan paths.