Mobile robot path planning in complex environment
Yang Xiu-xia, Cao Wei-yi, Yi Zhang, Fang Guo-wei, Xuan Yan · 2019 IEEE International Conference on Unmanned Systems (ICUS) · 2019
Aiming at the problem of task path planning for mobile robot in complex multi-obstacle environment, this paper presents a path planning method that can solve time constraints. Considering the kinematics constraints of the robot in the case of constant speed movement, multiple route points are selected in the complex obstacle environment. By setting the vector direction of the robot at the route points, the smooth transition between different sections can be achieved, and the speed and kinematics constraints of the robot can be guaranteed at the same time. Based on the bi-arc, the path planning scheme of the robot is given, and the analytical expressions of path parameters and the range of path length under different conditions are derived. The numerical simulation results show the effectiveness and practicability of the path planning scheme in complex environment.