A Real-time Path Planning Method Based on Certainty Grids Map in Complex Environments for Mobile Robot
Ge Guo · Control Engineering of China · 2007
A real-time path planning method called the line-generating obstacle detecting and avoidance method(LGODAM)for mobile robot is proposed in complex environments with the support of certainty grids map which can be upbuilt by SLAM.The LGODAM can be applied to ob- stacles with any shape of it's outline.By this means,the local optimum problem is well resolved,also the mission of global path planning is de- composed into a series of phasic sub mission in real-time way during the running of mobile robot.Uni-vector field tracking controller is applied to robot.The effectiveness and elegance of the LGODAM is demonstrated by simulation studies.A number of test cases are presonted,each shows a stable,smooth,reasonable and no oscillating path to the destination of mobile robot.