Ellipsoidal constraints based robot path planning in unknown environment
Zhang Qin-l · Jisuanji gongcheng yu sheji · 2014
A novel algorithm based on ellipsoidal constraints was proposed for the robot path planning in unknown environment.The path was constrained by ellipsoids,thus the path planning was equivalent to the parameter optimization of ellipsoids.The path planning in complex unknown environment was realized by establishing the ellipsoidal constrained optimization model,introducing the constraint of obstacles and that of the target position,and considering the influence of the movement step's length and direction.The simulation results show that,not only the path planning problem can be solved effectively,but also a collision-avoidance path can be found fleetly and effectively among obstacles by using the proposed algorithm.