Obstacle Avoidance of Mobile Robot Based on Pseudo Minimum Translational Distance
Zhang Min-fen · Journal of Changchun University of Science and Technology · 2014
The distance between the robot and the obstacles need to be calculated and then a collision-free path need to be planned automatically for the robot in constrain environment.Firstly,a pseudo-minimum distance translation method to carry out the collision detection between the obstacle and robot is used in this paper.Secondly,a collision-free path is planned by using the Assumption-Amendment iteration method.Lastly,the simulation is carried on a 3-DOF(degree of freedom) redundant plane manipulator.The result shows that the method is an effective way for robot path planning in constrained environment.