Path Planning for Mobile Robots with Courteous Behaviors in Domestic Environments
Yu Hao, Zongxin Kuang, Fengchi Sun, Jing Yuan, Mingming Liu, Maoqiang Xie · 2021
Along with the development of artificial intelligence, it has become a trend for mobile robots to serve and coexist with humans in domestic environments. It is significant to research path planning and make robots realize courteous behavioral patterns. These patterns can make robots avoid moving obstacles more regularly, and promote robots to get along with humans better. In this paper, we analyze common path planning algorithms for mobile robots. In order to realize courteous behaviors of mobile robots, we consider global path planning and local path planning comprehensively. We propose a method combining the smoothing ARA* algorithm for global path planning and the improved DWA algorithm for local path planning. The simulated experiments verify the effectiveness of the proposed algorithm.