A Real-Time Path Planning Method for Mobile Robot Avoiding Oscillation and Dead Circulation
Chun Zhang · 2003
Robot path planning in a globally unknown environment with general obstacles is studied in this paper. Oscillation and dead circulation possibly encountered in rolling path planning are studied. And an improved planning method is proposed by storing detected environmental information. The planning method could prevent mobile robot from oscillation and dead circulation efficiently and guarantee the accessibility to the global goal. It is a fast and effective path planning method for mobile robot in an unknown obstacle environment.