Dynamic path planning of mobile robot in partly unknown environment
He Dongfeng · Kongzhi yu juece · 2010
A dynamic path is proposed for partly unknown environment.With the globally optimal path treated as a dynamically changed state,the dynamic path is able to be executed online by tracking the globally optimal path using particle filter.The tracking including a prediction from the motion of the robot and a updating from the up to date environmental information.So that dynamic path abandons the following after planning strategy which is generally adopted by global path approaches and adopts a following while planning strategy instead.Simulations and experiments show that,compared with the classical global path approaches,the proposed method improves the efficiency by reducing the time in waiting for result and provides a global adaptability to both the motion error of robot and the partly unknown environment.