Mobile Robot Path Planning Based on Behavioral Dynamics in Dynamic Environment
Jing Mei Yang · Journal of Xi'an University of Technology · 2008
Human behavior of path planning can be simulated by evolving various behavior patterns of mobile robots described by nonlinear differential equations.Mobile robot path planning in dynamic environment is studied based on the method of behavioral dynamics in this paper.The behavioral variables and behavior patterns of mobile robot path planning are specified first.The two models of the heading dynamic equation and velocity dynamic equation are constructed separately.The situation of unstable fixed point is analyzed and the approach to disposing the unstable fixed point is presented.And then competitive model is utilized to automatically regulate the weight of behavior patterns for a better planning path.The final simulation results demonstrate that the model is correct and the weight-regulating method is effective.